Preheat oven to 375° Fahrenheit and line a baking sheet with parchment paper.
Add black beans (rinsed + drained if using a can), coconut oil, tahini, milk, dates, and chia seeds to a blender or food processor and mix until smooth. Let sit 5+ minutes.
In a separate bowl, stir together the coconut sugar, cacao powder, rice flour, baking powder, cinnamon, and sea salt.
Mix together the wet and dry ingredients until well-combined. Batter should be thick and smooth (like cake batter).
Drop batter onto the lined baking sheet, forming roughly 9 circles.
Bake for 15-20 minutes. Cookies will be soft and have slight cracks across the top.
Remove from oven and top with toasted sesame seeds.