Prepare a pot of water over medium high heat and bring to a boil while you prepare your dango dough.
In a mixing bowl, combine sweet rice flour and water. Start with a spatula and stir to combine, then begin to work the dough with your hands. You want a firm dough that doesn't stick to your hand, but is workable and sticks to itself. If you need to add additional water, do so by lightly wetting your hands and kneading again. It's important not to add too much water, so start with less and add more as needed.
Once you have a workable dough, divide into 6 pieces and roll into small balls. When the water is boiling, gently drop into the pot and let cook for about 3-5 minutes, or until the dango floats and is cooked all the way through. Strain and transfer to a bowl of cold water while you prepare your sauce.
In a small bowl, whisk together arrowroot starch with a splash of cold water to form a slurry. Next, in a small saucepan over medium heat, combine gluten free soy sauce, water, coconut sugar and mirin. Whisk to combine, then add arrowroot starch slurry and continue to stir until sauce thickens. Once the sauce thickens, remove from the heat and set aside.
Now drain dango again, and skewer 3 pieces on each stick. Glaze with your sweet soy glaze to taste, and enjoy!