In a saucepan, add the drained rice, water and salt and bring it to boil. Cook on low flame till the rice absorbs all the water and is soft.
Add the coconut milk and sugar and cook further till absorbed. By now, the rice would be overcooked and sticky. Allow to cook.
For the sauce, combine all the ingredients except the pandan essence and cook on low flame till glossy. Keep stirring to avoid the tapioca starch from settling at the end.
Once slightly thick, switch off and mix the essence. Set aside to cool.
To serve, divide the rice into three parts, shape using a bowl and flip onto a plate. Spoon over one-third of the sauce.
Set chopped mangoes on the side and sprinkle some sesame seeds, if using. Dig in!