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1
In a small saucepan, combine the soy sauce, sake, sugar and vinegar and bring to a boil. Boil over high heat until thickened to a glaze, 2 to 3 minutes. Taste and season with a fresh splash of vinegar, if you like.
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2
Preheat the grill for at least 10 minutes, preparing to grill over moderately high heat, and soak 8 double-pronged bamboo skewers or 16 single skewers in water.
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3
In a bowl, use your hands to mix together all of the ingredients except for the sesame seeds and scallion greens.
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4
Form the meat mixture into 16 meatballs. Thread the meatballs onto the skewers, leaving just a little space in between and flatten slightly.
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5
Oil the grates well and grill the meatball skewers until light grill marks form, 3 to 4 minutes. Flip and grill for 2 minutes longer, until the outside of the meatballs looks cooked.
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6
Brush the sauce over the meatballs, flip and brush the other side. Flip them and brush them with the sauce constantly for about 1 minute, until glazed and cooked through. If the sauce darkens too quickly, reduce the heat or move the skewers to a cooler part of the grill.
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7
Transfer the skewers to a platter and sprinkle with sesame seeds and sliced scallions. Serve over rice, if desired.