Japanese sesame meat dipping sauce recipe?

I’m looking for a recipe for a creamy Japanese sesame dipping sauce. Used for chicken and beef. It’s not a marinade or clear dipping sauce, it is creamy light orange/beige in colour. Served on the side with hot beef and chicken at a few Japanese restaurants I have been too. I can never find anything like it!

Any ideas as to what kind of sauce this is? I’d love a recipe.
Thank you.