Prepare the glaze: In a small saucepan, combine soy sauce, mirin, sake (if using), and sugar. Heat over low-medium heat, stirring occasionally, until the sugar dissolves and the mixture slightly thickens, about 2 minutes. Set aside.
Form the rice balls: Wet your hands with water (or salt water for seasoning). Take a portion of the cooked Japanese short-grain rice and gently but firmly shape it into a triangle or disc, about 1-inch thick. Repeat with the remaining rice to form 4-6 rice balls.
Grill the rice balls: Heat a non-stick pan or grill pan over medium heat. Lightly brush the pan with sesame oil. Place the rice balls in the hot pan.
Grill the first side: Grill the rice balls for 3-4 minutes until they are golden brown and slightly crispy on one side.
Glaze and flip: Flip the rice balls. Brush the grilled side generously with the prepared soy sauce glaze. Grill for another 3-4 minutes.
Continue grilling and glazing: Flip the rice balls again. Brush the newly grilled side with glaze. Continue grilling and flipping, brushing with glaze 2-3 times on each side, until all sides are golden brown and well-glazed with a slight crisp.
Serve: Remove the Yaki Onigiri from the pan. Serve immediately, optionally wrapped with a small strip of nori.
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