In a large skillet over medium heat, toast sesame seeds, stirring frequently, until fragrant, about 3 minutes. Transfer sesame seeds to a spice grinder or blade-style coffee grinder and let cool completely. Grind, scraping down sides of grinder frequently, until seeds release their oils and turn into a thick, smooth paste. Add maple or agave syrup and grind until glossy and smooth.
Scrape sesame paste into a food processor. Add bananas, hemp milk, and vanilla to food processor and process until very smooth. You will need to scrape down the sides several times and may need to add a splash more hemp beverage to achieve a smooth but thick consistency.
Serve right away or scrape mixture into a small loaf pan, cover, and freeze until solid, about 2 hours. Serve with raspberry preserves, if desired.
This nutritional information refers to each serving of the entire recipe and not just the products used as ingredients.