In a small saucepan, set over low heat, whisk together milk, tahini, honey, vanilla extract, espresso powder, cinnamon, and a pinch of salt until well integrated and heated, about 2-3 minutes.

Continue heating for an additional 3-5 minutes, ensuring it approaches boiling but does not boil.

Add chopped bittersweet chocolate into the warm mixture and let sit for 5 minutes to melt.

Whisk the mixture until smooth and creamy, returning to low heat for a minute if needed.

Taste and adjust sweetness with more honey if desired, mixing until dissolved.

Pour into mugs, top with whipped cream and sesame seeds, and serve immediately.