Let's cook.
Rinse the glutinous rice under cold water until the water runs clear. Soak the rice in cold water for at least 30 minutes, or up to 4 hours.
Drain the soaked rice and steam it for 20-25 minutes, or until tender and translucent. If you don't have a steamer, you can cook it in a rice cooker with a 1:1 ratio of rice to water.
While the rice is steaming, prepare the coconut sauce. In a small saucepan, combine the coconut milk, sugar, and salt. Heat over medium-low heat, stirring constantly, until the sugar is fully dissolved and the mixture is warm, about 3-5 minutes. Do not boil.
Once the rice is cooked, transfer it to a medium bowl. Pour about 3/4 of the warm coconut sauce over the rice and stir gently until fully absorbed. Let it sit for 10 minutes to allow the rice to soak up the sauce.
Lightly grease a 6-cup muffin tin or use silicone muffin liners. Press about 1/4 to 1/3 cup of the warm sticky rice into each muffin cup, forming a compact base.
Arrange sliced mango on top of each sticky rice cup. Drizzle the remaining coconut sauce over the mango and rice.
Garnish with toasted sesame seeds before serving. Serve warm or at room temperature.
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