2. According to experience, it usually takes more than 20 minutes to steam large taro in pressure cooker, and about 15 minutes for small taro. If you steam in an ordinary pot, of course, the time can be longer. According to everyone's taste, some people like to eat soft taro, while others like to eat hard taro. For example, a baby needs to steam it soft for him, and an adult can steam it less for a while.