Heat a small skillet over medium-high heat. When hot, add the sesame seeds and alternate between shaking the pan and stirring the seeds. When the seeds start to pop, after a couple of minutes, transfer them to a plate and let cool to room temperature.
In a small bowl, whisk together the garlic, vinegars, honey, sesame oil, red pepper flakes, sesame seeds, and 1 teaspoon salt. Pour the dressing over the carrots, add the cilantro, and toss well. Season with salt, to taste, and serve.