MIX tapioca, sugar and water in medium saucepan. Let stand 5 min. Bring to full boil on medium heat, stirring constantly. Remove from heat. Stir in orange zest and juice.
POUR into medium bowl. Place plastic wrap directly on surface of tapioca.
REFRIGERATE 1 hour or until cooled. (Tapioca thickens as it cools.) Gently stir in whipped topping. Spoon into 6 dessert dishes. Store leftover dessert in refrigerator.