1. Heat grill to medium (350° to 450°). Rub kale with oil. Grill, turning once, until slightly softened and streaked brown, 5 to 6 minutes total.
2. Combine sesame seeds, tahini, soy sauce, mayonnaise, and honey in medium bowl. Cut kale into 1-in. slices, add to bowl, and toss to coat with dressing.