Fill a large pot with water and bring to a boil. Add in the diced taro and yam. Boil until taro and yam have softened, about 10-15 minutes. Drain into a colander and set aside.
Make the tapioca jellies:
Next, make the tapioca jellies. Put the tapioca starch and pink pitaya powder into a medium bowl and add in the hot boiling water. Use a spatula to mix until a dough forms. If the dough feels too dry, add in a little water at a time. The consistency should feel like playdough.
Use your hands to knead the dough and transfer it onto a flat surface. Roll into a long coil and cut into desired shape. Or flatten with a rolling pin and use a small cookie cutter to cut out shapes (like I did with the stars). Dust with additional tapioca starch if it's too sticky.
Fill a small pot with water and bring to a boil. Add in the tapioca jellies and cook for about 6-7 minutes, until they float to the top. Strain out the jellies and set aside in a clean bowl.
Cook the sago pearls:
Using a small pot, add in the 1 C water and bring to a boil.
Pour in the sago pearls, give it a quick stir and turn off the heat. Remove the pot from heat and replace the lid. Give it a stir every so often. The sago pearls will be cooked when they're translucent, about 20-30 minutes.
In a large pot, add the 3 C of water and the palm sugar discs. Bring to a boil and stir to dissolve the sugar.
Tie the pandan leaves into a knot and throw them into the pot. When the sugar has completely dissolved, bring the heat down to a simmer and stir in the coconut milk. Remove the pandan leaves.
Next, gently add the cooked taro, yam, tapioca jellies, and sago pearls into the coconut milk. When the mixture is warmed through, turn off the heat and serve.