Preheat the oven to 450 degrees F. Line a pan with parchment paper or a silicone mat.
In a large bowl, add the flour, water, almond milk, garlic powder, salt, and cracked black pepper. Whisk until well combined and smooth. If it’s too thick, add a little more almond milk.
Dip cauliflower into the batter and shake off excess batter. Place onto the baking sheet. Repeat with all the florets. Bake for 30 minutes, flipping halfway through.
While the cauliflower is baking, make the sauce. Add the maple syrup, soy sauce, garlic, ginger, sesame oil, and rice vinegar to a small pot over medium heat. Whisk and bring to a boil. Make the cornstarch slurry by combining the cornstarch and water in a small bowl. Stir until dissolved. Once the sauce is boiling, add the slurry in. Whisk continually until the sauce thickens, about 2 minutes. Turn heat off and set aside.
Once the cauliflower is done, generously brush the sauce onto each battered cauliflower floret. Bake for another 15 minutes. For a crispier crust, broil for a few minutes at the end (make sure you watch it carefully so it doesn’t burn!). Sprinkle some sesame seeds on top for garnish if you’d like. Serve with rice, enjoy!