15-30 minutes. How long it takes to cook Lipu taro is generally related to the size of the taro. If it is small or cut into pieces, it can usually be cooked in 15 minutes. If it is larger, it will take about 30 minutes to be cooked. When steaming taro, you need to boil the water in the pot. Taro steamed in cold water will not taste as good as steamed in hot water.