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Heat the oven to 425°F. Meanwhile, trim 1 pound Brussels sprouts. Halve each sprout or quarter if large. Transfer to a large bowl.
Add 2 tablespoons vegetable oil, ½ teaspoon kosher salt, and ¼ teaspoon black pepper. Toss until combined.
Transfer to a large 12-inch oven-safe skillet and arrange into a single layer cut-side down. Place over medium heat and cook until the bottoms start to brown, 2 to 3 minutes. Toss the sprouts and arrange back into an even layer.
Transfer the skillet to the oven and roast for 7 minutes. Toss the sprouts and arrange back into an even layer. Scatter 2 thinly sliced garlic cloves over the sprouts. Return to the oven and roast until the sprouts are crisp-tender, about 6 minutes more.
Meanwhile, whisk 1 tablespoon white miso paste, 1 tablespoon rice vinegar, 2 teaspoons maple syrup, 2 teaspoons toasted sesame oil, and ¼ teaspoon black pepper together in a small bowl until combined.
Remove the skillet from the oven. Drizzle the glaze over the Brussels sprouts and toss to coat. Sprinkle with 1 teaspoon toasted sesame seeds if desired.