Preheat your oven to 400°F (200°C). Grease a 24-cup mini muffin tin thoroughly with oil or cooking spray and set aside.

In a small saucepan over medium heat, combine the milk and oil. Heat until the mixture just begins to simmer and steam rises — do not boil. Remove from heat immediately.

Add the tapioca starch and salt to the bowl of a stand mixer fitted with the paddle attachment (or a large mixing bowl if mixing by hand). Pour in the hot milk-oil mixture and mix on low speed, or stir vigorously, until the starch is fully moistened and a shaggy, slightly sticky dough forms. Allow to cool for 5 minutes.

Once the dough has cooled slightly and is no longer steaming, add the eggs one at a time, mixing well after each addition. The dough will look broken or slippery at first — keep mixing and it will come together into a smooth, sticky, slightly elastic dough.

Add the Parmesan and mozzarella and mix until fully incorporated throughout the dough.

Using a small cookie scoop or two spoons, portion the dough into the prepared mini muffin cups, filling each about three-quarters full. The dough will be sticky — lightly dampening your fingers or the scoop with water helps.

Bake in the preheated oven for 20 to 25 minutes, until the rolls are puffed, deeply golden on top, and pulling away slightly from the edges of the tin.

Remove from the oven and allow to cool in the tin for 3 minutes, then transfer to a wire rack or serve immediately. Pão de Queijo is best eaten warm from the oven.