In a medium pot add the milk, sugar and egg. Let stand for 5 minutes. Cook over medium heat, stirring constantly, and bring the mixture to a boil. Remove from the heat, and add the tapioca, vanilla extract and almond extract. Chill the mixture for 2 hours.
Meanwhile, start prepping the chocolate. Place the chocolate in a glass bowl and microwave on medium heat for 35 seconds at a time until the chocolate melts. Using a clean pastry brush, paint the chocolate molds with the melted chocolate, then freeze.
Transfer the tapioca to a pastry bag. Remove the chocolate from the molds and pipe the chilled tapioca in to fill. Top with more melted chocolate, and then freeze until solid.
To make the chocolate legs, drizzle some melted chocolate on wax paper in long strands, then freeze. Break the chocolate strands into pieces and stick them on the sides of the bugs using some melted chocolate as the glue.
Serve the cockroaches on their backs.