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In a small pot, heat the dashi stock over medium heat.
Add soy sauce, mirin, and ground sesame, stirring well to combine.
Bring to a gentle boil for 1-2 minutes to ensure the alcohol in the mirin evaporates, then reduce to a simmer to blend the flavors.
In a small bowl, dissolve the white miso in a bit of warm broth before adding it to the pot.
Lower the heat and slowly pour in the soy milk, stirring constantly.
Cook udon noodles according to package instructions.
Pour the hot broth over the noodles and top with green onions, sliced mushrooms, or stir-fried pork belly and eggplant in sesame oil.