Place the frozen bananas in a food processor and process until creamy, scraping up the sides as necessary (at first it will get mealy, but eventually it will get creamy). Blend in the milk, tahini, maple syrup, and vanilla extract until smooth.
Divide between 10 popsicle molds, giving it a tap on the counter to release any air bubbles. Place the lid over the mold and insert your popsicle sticks as straight at possible. Freeze for 4-6 hours, or until frozen solid. For best results, freeze over night.
Remove popsicles from molds and place on a baking sheet. To help remove your popsicles from the mold, fill a large bowl with warm water and briefly dunk the bottom part of the mold in the bowl or briefly run the mold under warm water. Chill while you prepare the chocolate.
Melt the chocolate in a double broiler or in the microwave: fill a small saucepan with a few inches of water and set a heat-proof bowl over the top so a large portion of the bowl is touching the water. Being careful not to get any water in your bowl, add the dark chocolate. Cook, undisturbed until a little more than half is melted, then stir until the rest melts. Cook for a few minutes longer until the chocolate stings a little when touched on your wrist or just below your lower lip.
Remove the bowl from the heat (again being careful not to get any water in it) and let sit, stirring occasionally, until the chocolate feels just a bit cooler than your body temperature when touched to your wrist. This will temper the chocolate, but it will also make it less likely to melt your popsicles!
Drizzle chocolate over the frozen popsicles, then sprinkle them with toasted sesame seeds. Freeze until ready to eat!
This nutritional information has been automatically calculated, and as such, may be incomplete or inaccurate. Please reference the specific ingredients you use for the most accurate nutritional information.