Preheat grill (if using outdoor grill). If using indoor grill pan, spray pan lightly with spray oil.
Make your glaze topping: In a small bowl, combine tamari (soy)sauce, sesame oil, ginger, chili to taste or just some chopped red bell pepper for color, garlic and maple syrup. Stir to combine.
Slice your Asian eggplants lengthwise (or can use Western eggplants but you will have to cut them 3-4 times lengthwise so they cook evenly). Brush olive oil on both sides of the eggplants.
Grill the eggplants cut side or flesh side down for about 3-5 minutes on a low-medium heat with the lid closed depending on how large your Asian eggplants are. If you are using a grill pan, cut the eggplants so they can fit lengthwise in the pan, spray lightly will oil and find a lid that can cover your grill pan at least partway. You will know when your eggplant are ready to be turned over as the skins will turn from a dark purple to a light brown and when you grab them with the tongs they are easy to squeeze.
Turn your eggplants over so that the cut side is facing up. You should have nice grill marks on your eggplant. Spoon over the glaze topping on top of each eggplant. Close the lid of your grill and cook for another 3-5 minutes depending on the size of your eggplants. Remove your Asian eggplants from the grill.
Garnish with toasted sesame seeds and cilantro and enjoy.