Cook and stir sesame seeds in a medium skillet over medium heat until lightly browned, about 5 minutes. Remove from heat; set aside.

Heat oil in the skillet over medium-high heat. Stir in snow peas and mushrooms. Cook until tender, 3 to 4 minutes.

Transfer snow peas and mushrooms to a medium bowl. Toss with toasted sesame seeds and teriyaki sauce; serve warm.