Heat oven to 190C/170C fan/gas 5. Mix the hoisin sauce, honey, mustard and sesame seeds. Add the sausages, tossing well to coat them.
Line a baking tray with foil and arrange the sausages on it, spaced apart. Smooth any remaining glaze on top of the sausages to make them extra sticky. Bake for 20-25 mins until golden. Pack in a container, or wrap in foil, with some cocktail sticks.