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Cut sweet potatoes into 1 ½-inch cubes and place in a large bowl. Drizzle with oil, sprinkle with pepper and toss to coat.
Spread cubes on a sheet pan in a single layer. Roast 20 minutes, remove from oven and flip potatoes; then roast 15 minutes more, or until tender.
Meanwhile, heat butter and sesame oil in large skillet over medium heat. Add garlic and cook 2 minutes, then remove from heat and stir in miso, soy, brown sugar and water. Stir until well combined; then, set aside.
When potatoes are done, add them to skillet and return skillet to high heat.
Gently toss potatoes in glaze until coated. Cook long enough to crisp them a bit, then remove from heat and sprinkle with sesame seeds.