Preheat your oven to 400°F (200°C). Line a baking tray with parchment or foil.
Wash your sweet potatoes and remove any blemishes, but do not peel. Cut into bite-sized pieces. In a large bowl add your honey and oil and mix to combine somewhat. Add the sweet potato pieces, salt, and pepper, and toss to coat.
Pour the sweet potatoes on to a baking sheet and bake for roughly 40-50 minutes, turning the pieces halfway through (you may want to drizzle with a little more honey to make the caramelisation more even). They are done when the outsides are golden and the inside is soft and fluffy, easily pierced with a fork.
While your sweet potatoes are baking, toast your sesame seeds over medium heat in a small pan - until they are just golden and fragrant. Remove from heat and set aside.
Remove the potatoes from the baking sheet and place on a plate or in a bowl. Drizzle with tahini and sprinkle with toasted sesame seeds. Serve with extra tahini for dipping on the side.