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Step 1
Add about an inch of water to a stovetop steamer or a pot fitted with a steaming basket. Add sweet potatoes and steam until tender, 30 to 40 minutes, depending on their size.
Step 2
While sweet potatoes are cooking, make the sauce: pound garlic and ginger in a mortar until very smooth and then stir in the sugar, miso, vinegar, sesame oils and 1 tablespoon water.
Step 3
Halve steamed sweet potatoes lengthwise and score the cut sides in a crisscross pattern with a small knife. Heat a large skillet or grill pan over medium-high heat. When hot, add a swirl of light sesame oil (about 1 tablespoon), then add sweet potatoes in a single layer, cut side down, and cook for 3 minutes, or until their natural sugars caramelize and turn an appetizing golden brown. (Depending on the shape of your potatoes, you may have to work in batches.)
Step 4
Arrange sweet potatoes on plates or a platter and spoon sauce over them. Garnish with sesame seeds and serve alone or with any accompaniment you like.