Step 1

Preheat oven to 400°F.

Step 2

Slice eggplants in half lengthwise. Make a few long slices in the eggplant flesh with the tip of a knife, making sure not to pierce the skin. Arrange the halves, cut-sides up, on a large rimmed baking sheet.

Step 3

Combine sesame oil, garlic, ginger, vinegar, miso, maple syrup, sambal oelek and soy sauce in a food processor. Pulse until mostly smooth.

Step 4

Brush the eggplant halves with the glaze; roast until the eggplant is tender, about 40 minutes.

Step 5

Transfer the eggplant halves to a platter. Sprinkle with salt and top with yogurt, peanuts and parsley. Squeeze lemon over the top.