Preheat oven to 375˚. Cut turnips into ¼" cubes and place in a bowl. Add minced garlic, olive oil, sesame seeds, honey, and sea salt: toss until well combined. Spread turnips out into a single layer in a roasting pan and bake for 25-30 minutes until caramelizing and turnips are tender.
Remove turnips from oven and add the soy sauce and cilantro to the roasting pan.