Soak the glutinous rice and yellow mung beans separately for at least 8 hours, but preferably overnight.
Drain the glutinous rice and mung beans separately and let them dry naturally.
Steam the mung beans for about 20-30 minutes.
When cooled, mash the mung beans into thick paste with small clumps.
Mix the rice, salt, and mung beans and place the mixture in a steamer with a cheesecloth or muslin.
Steam for about 15-20 minutes or until rice is done when soft and loses its opaqueness.
When done, add the coconut milk and mix gently being careful not to mush the rice into clumps.
Enjoy xoi vo alone, with the sweet and salty sesame/peanut mixture, or with your favorite meat dish like ga roti