Making the dough for Sesame Cookies:

Start to mix the dry ingredients in one bowl, cornstarch, ground almonds, salt and baking powder.
Add maple syrup, tahini, and soy yogurt.
Knead everything with your hands until you have a smooth ball of dough.

Rolling the Marzipan Balls:

Take your baking marzipan and cut off small pieces.
Roll 29 marzipan balls using your hands (I used about 3 g of marzipan per ball).

Forming the Cookies with Filling:

Divide the dough and roll it into 29 balls (my cookies weighed about 21 g each).

Preheat your oven to 170°C / 340°F (top/bottom heat).

Take a ball of dough in your hand and press a hole into the center using your finger. Place a marzipan ball inside, then seal it with the surrounding dough. Roll it again in the palm of your hand until smooth. Dip the top of the ball into a bowl filled with sesame seeds.
Repeat this process: Roll, press the hole, fill, seal, roll again, and dip.
Finally, place all cookies on a parchment-lined baking tray.

Baking the Sesame Cookies with Marzipan Filling:

Bake in the oven at 170°C / 340°F (top/bottom heat) for 20 minutes. 
If you bake them longer they will be crispier, try it out and see how you like them best.