In a large mixing bowl, combine the chickpeas, black beans, edamame, cherry tomatoes, red bell pepper, green onions, and cilantro.
In a separate bowl, whisk together the miso paste, sesame oil, rice vinegar, soy sauce, honey or maple syrup, ginger, and garlic until smooth.
Pour the dressing over the bean mixture and toss gently to combine.
Sprinkle sesame seeds on top and mix lightly.
Cover the salad and refrigerate for at least 30 minutes to allow the flavors to meld.
Serve chilled or at room temperature.