Boil the taro in water for 1 hour or until tender. In another saucepan, combine remaining ingredients over low heat. Cover and let steep while the taro cooks. Drain the taro and transfer to a mixing bowl. Pass the infused milk through a sieve to remove the solids and add to the bowl of taro. Mash the taro as you would potatoes. Season with salt and pepper, to taste.
Recipe courtesy of Tyler Florence