In a small bowl, place 1/2 cup soymilk and sprinkle gelatin over top. Set aside 5 minutes.
In a medium saucepan, combine 2 1/2 cups soymilk and sugar. Cook over medium heat, stirring occasionally, until milk is hot (but not boiling) and sugar is dissolved, about 5 minutes.
Remove from heat; stir in reserved gelatin mixture until dissolved. Stir in the remaining soymilk and sesame paste. Transfer the mixture to a blender (or use an immersion blender with liquid in pot) and blend until smooth.
Set a medium bowl in a bowl of ice water; pour soymilk mixture into the empty bowl. Let the mixture stand, stirring occasionally, until cool, about 45 minutes. Pour milk mixture into glasses. Refrigerate 3 to 4 hours or until firm.
This recipe was provided by professional chefs and has been scaled down from a bulk recipe provided by a restaurant. The Food Network Kitchens chefs have not tested this recipe, in the proportions indicated, and therefore, we cannot make any representation as to the results.