Combine milk, egg and yolk, 1/2 cup granulated sugar, brown sugar, salt, and Minute tapioca in medium saucepan; let sit for 5 minutes. Bring mixture to boil over medium heat, then reduce heat and simmer, stirring constantly for 2 minutes. Off heat, stir in vanilla and scrape pudding into medium bowl. Cover tightly with plastic wrap and refrigerate until set, at least 1 hour or up to 2 days.
With electric mixer on medium speed, beat cream and remaining granulated sugar until stiff peaks form, about 2 minutes.
Gently fold half of whipped cream into pudding. Serve with dollop of remaining whipped cream.