Preheat oven to 350°F. Line a baking sheet with parchment paper.
In a medium bowl, whisk together tahini, maple syrup or honey, egg, and vanilla until smooth.
Stir in flour, baking soda, and salt until a soft dough forms. If the dough is very sticky, refrigerate for 20–30 minutes.
Roll dough into 12–14 small balls. Place on the prepared baking sheet, leaving space between each cookie. Gently flatten and sprinkle with sesame seeds, if desired.
Bake for 10–13 minutes, until the edges are set and lightly golden. Allow cookies to cool on the baking sheet for at least 10 minutes before transferring.