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Rinse the glutinous rice under cold water in a fine-mesh sieve until the water runs clear.
Transfer the rinsed rice to a large bowl, cover with at least 3 inches of cold water, and soak for a minimum of 4 hours or overnight.
Drain the soaked rice. Line a bamboo steamer with cheesecloth, spread the rice evenly, and steam over a pot of simmering water (water should not touch the rice) for 25–30 minutes, or until the rice is tender and translucent. (Alternatively, place the drained rice in a rice cooker with 1½ cups of water and cook on the “white rice” setting.)
While the rice cooks, combine 1 cup of the full-fat coconut milk, granulated sugar, and salt in a medium saucepan. Heat over medium-low, stirring constantly until the sugar is completely dissolved and the mixture is warm; do not let it boil. Remove from heat.
Immediately transfer the hot, cooked rice to a large bowl. Pour about ¾ of the warm coconut sauce over the rice and stir gently until the liquid is mostly absorbed. Cover and let sit for 15–20 minutes.
Peel the ripe mangoes and slice the flesh away from the pit into long thin slices or cubes.
To serve, scoop a generous portion of the warm sticky rice onto a plate alongside the mango slices. Drizzle the reserved coconut milk over both the rice and mango, and sprinkle with toasted sesame seeds.