Soak the gelatin sheets in cold water until softened. Meanwhile, lightly toast the black sesame seeds in a dry skillet over medium heat until fragrant.
In a medium saucepan, combine the heavy cream, milk, sugar, and vanilla extract. Heat over low heat, stirring occasionally, until the sugar is completely dissolved. Do not boil.
Add the toasted sesame seeds to the cream mixture and cook for an additional 2-3 minutes to allow the flavors to infuse.
Remove the saucepan from the heat and stir in the softened gelatin sheets until completely dissolved. Let the mixture cool slightly.
Strain the mixture through a fine-mesh sieve to remove the sesame seed particles. Pour the strained mixture into individual glasses or molds.
Let the panna cotta cool to room temperature, then refrigerate for at least 4 hours, or preferably overnight, to set completely.
Before serving, sprinkle the top with toasted sesame seeds or garnish with sesame seed paste.
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