Preheat the oven to 400F. Line a large baking tray with parchment paper.
Spread the eggplant out over the pan, drizzle with the olive oil, and toss to coat.
Roast the eggplant for 25 to 35 minutes, tossing once, or until tender and beginning to caramelize (you want it to have lost its spongy quality).
Meanwhile, prepare the sauce. Add the garlic, rice vinegar, tamari, sesame oil, and maple syrup to a medium saucepan. Heat over medium-low and simmer for 4 minutes, or until the garlic softens and the mixture reduces a bit. Remove from the heat and let cool slightly.
Once the eggplant is ready, transfer it to a large serving bowl. Drizzle with the sauce and toss to coat. Garnish with the cilantro and sesame seeds (if using).
Taste and adjust the flavors if desired—to make it saltier, add more tamari; sweeter, add more maple syrup; tangier, add more vinegar.
Serve immediately.
Refrigerate leftovers in an airtight container for up to two days.