Mix the tahini, maple syrup, cinnamon, and vanilla well, then add the remaining ingredients. Stir well to combine.
Dampen your hands, and scoop 2 or 3 tablespoons into your palm to form into a cookie shape. Place onto a parchment lined baking sheet. Repeat with remaining batter.
Bake at 350° for 10 minutes. Allow to cool for 10 minutes before enjoying.