Season a 1.5 kg (3 lb) beef roast with salt and black pepper, then place it in a baking dish.
Whisk together ¼ cup soy sauce, ¼ cup honey, 2 tbsp brown sugar, 4 minced garlic cloves, 1 tbsp Worcestershire sauce, 1 tsp grated ginger, and 1 tbsp sesame oil.
Pour the sauce over the beef, cover tightly with foil, and marinate for 30 minutes if time allows.
Bake at 160°C (325°F) for 2½–3 hours, basting every 30–40 minutes, until the beef is tender.
Remove the foil and bake for an additional 15–20 minutes to caramelize the sticky glaze.
Slice the roast, spoon the soy-garlic glaze over the top, and garnish with sesame seeds and sliced green onions before serving.
