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In a small saucepan, combine the soy sauce, brown sugar, water, ginger, garlic, and sesame oil. Set over medium heat and stir until the sugar is fully dissolved, about 2 minutes.
Bring the mixture to a gentle simmer, stirring occasionally, until fragrant and the garlic has softened, about 3–4 minutes. Watch closely once it begins to bubble, as the sugar can scorch quickly.
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