Preheat the oven to 400 F.
Place the carrots on baking sheet drizzling 3 tablespoons olive oil over all the carrots.
Season with salt and pepper. Rub the mixture evenly all over the carrots with your hands.
Roast for 30 minutes or until carrots are slightly browned and fragrant and tender when pierced with a fork.
While carrots are roasting, place soy sauce, orange juice, water, garlic cloves, rice wine vinegar and toasted sesame oil in a small saucepan over medium-high heat.
Bring to a simmer and cook the soy sauce mixture until it is reduced by half, about 4 minutes. Add maple syrup, stirring to dissolve. Cook 5 more minutes, until the sauce slightly covers the back of a spoon and look syrupy (it will thicken up when it cools). You could discard the garlic cloves or eat them if you love them!!
Keep sauce warm until carrots are done.
Toss carrots in warm glaze (add as much or as little as you would prefer. Depending on how much glaze you like. I added the rest of the glaze on my roast I made.), sprinkle on sesame seeds, and serve immediately.