Heat sesame oil in a skillet over medium heat. Add garlic and cook until fragrant.
Add the chickpeas and stir to coat.
Whisk together soy sauce, maple syrup, and rice vinegar. Pour into the skillet and stir.
Let simmer for 5 minutes, stirring occasionally, until the sauce thickens slightly.
Stir in the cornstarch slurry and cook until sauce is glossy and sticky.
Sprinkle with sesame seeds and green onions before serving.
Serve warm over rice or quinoa.