Pour 1 1/2 cups water into a medium saucepan and bring to a boil. Sprinkle in the tapioca pearls and stir. Partially cover and reduce the heat to low. Simmer, stirring every couple of minutes so the tapioca doesn't stick to the bottom of the pan. Cook about 15 minutes, until the majority of the pearls are soft and appear translucent.
Pour the coconut milk, sugar, and salt into the saucepan. Increase the heat slightly to simmer, stirring occasionally, for a few minutes, until the sugar is dissolved.
Meanwhile, peal the bananas and sear them in a pan, preferably cast iron. Gently rotate the bananas so they grill on all sides.
Toast the sesame seeds, peanuts, and coconut flakes in a small dry skillet or saucepan.
To serve, you can slice the bananas or keep them whole, and arrange in small bowls. Pour the pudding over the bananas. Garnish with sesame seeds, peanuts, and coconut flakes.