In a small saucepan over low heat, whisk together the milk, tahini, honey (starting with 2 tablespoons), vanilla extract, espresso powder, cinnamon, and salt. Heat until the milk is just shy of scalding, then remove from heat and add in chopped chocolate.
Allow to sit for 5 minutes before whisking together. At that point, the chocolate should be fully melted, but if it isn’t, place back on heat for 1 minute. If you like your hot chocolate sweeter, taste and add another tablespoon honey.
Pour tahini hot chocolate into small mugs. Top with whipped cream and sesame seeds and serve!