Boil
Merriam-Webster Definition: to generate bubbles of vapor when heated – used of a liquid, to cook in boiling water.*
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The term boil comes to mind the most often when making pasta, however, you can boil potatoes and eggs too. The act of boiling causes the water to produce moving bubbles, referred to as a roiling boil. When you are making homemade fudge you need to bring it to a roiling boil.