Add the toasted sesame oil to a large skillet and heat over medium-high heat. Add the smashed garlic cloves and edamame and cook for 2 minutes until warmed through but still bright green.
Add the soy sauce and stir until evaporated, about 1 minute. Remove from the heat and stir in the salt. Discard the garlic cloves. If desired, sprinkle with sesame seeds. Serve immediately.