Short answer
A small sprinkle of plain sesame seeds on your dog's food is perfectly safe. There's no strict toxic dose, but a good rule is to keep treats, including seeds, to less than 10% of their daily calories. Concerns arise if a dog manages to eat a very large quantity, like a whole container, which could pose a risk of intestinal blockage or pancreatitis due to the high fat content. For everyday safety, a teaspoon of seeds or a tiny dab of plain tahini is a reasonable limit for a medium-sized dog.
Sesame seeds — Food safety facts
Safe to share · Dogs · full breakdown on the linked food page
Plain sesame seeds are safe. Tahini is fine in tiny amounts.
The full verdict, portion guidance and serving notes are collected on the Sesame seeds food facts page.