Bring a large pot of water to a rolling boil over high heat. Add the noodles and cook until just al dente, about 8-10 minutes, stirring occasionally. Drain and rinse under cold water to stop cooking; set aside.
While the noodles cook, toast the sesame seeds in a dry skillet over medium heat, shaking or stirring constantly, until golden and fragrant, about 2-3 minutes. Remove from heat and set aside.
In a small bowl, whisk together the sesame paste, soy sauce, rice vinegar, maple syrup, and sesame oil until smooth. If the mixture is too thick, add a splash of warm water to loosen it to a creamy consistency.
Heat a teaspoon of oil in a small skillet over low to medium heat. Add the minced garlic and cook for about 30 seconds until fragrant, being careful not to burn it.
Pour the prepared sauce into the skillet with garlic and stir well, warming the mixture for about 1 minute to allow the flavors to meld.
Add the drained noodles to the sauce, tossing gently with tongs or a wooden spoon to coat evenly. Warm through for another 1-2 minutes, just until noodles are heated and sauce is absorbed slightly.
Squeeze fresh lime or lemon juice over the noodles, then toss again to distribute the bright citrus flavor.
Transfer the noodles to a serving bowl. Garnish generously with toasted sesame seeds and, if desired, a drizzle of toasted sesame oil for extra aroma.
Let the noodles rest for a couple of minutes to allow the flavors to settle before serving. Enjoy the rich, nutty, and bright flavors in every bite!
