In a medium saucepan, combine the soy sauce, brown sugar, rice vinegar, and water.
Add the minced garlic and grated ginger, then stir to combine.
Bring the mixture to a simmer over medium heat. Reduce the heat to low and cook for 5-7 minutes, or until slightly thickened.
Stir in the sesame oil and sesame seeds until well combined.
Let cool slightly, then serve with grilled meats, vegetables, or rice.
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