Preheat the oven to 180°C (356°F).
Mix soy milk and erythritol in a bowl.
Add glutinous rice flour, peanut powder, and baking powder, and mix well.
Shape the dough into balls and place them on a baking tray.
Sprinkle black sesame seeds on top.
Bake in the oven at 180°C (356°F) for 20 minutes.