Slice sweet potatoes in half lengthwise. Brush the cut side of the sweet potato with olive oil. Place the sweet potatoes cut side down onto a baking sheet.
Bake Sweet potatoes for 30-35 minutes.
While the sweet potatoes bake, combine the ingredients for the glaze in a small bowl. Whisk until smooth.
Remove sweet potatoes from the oven & brush each potato generously with the glaze. Placing them cut side up on the baking sheet.
Return the sweet potatoes to the oven and bake for an additional 10 minutes.
Remove from oven. Garnish with any additional glaze remaining, sesame seeds & cilantro. Enjoy!