Meanwhile, whisk the soy sauce, mirin, rice vinegar, garlic, ginger, brown sugar, sesame oil and water together in a large pan. Bring to a simmer over medium heat.
¼ cup soy sauce
3 tablespoons mirin
1 tablespoon rice vinegar
2 garlic cloves
1 tablespoon fresh ginger
2 tablespoons brown sugar
1 teaspoon toasted sesame oil
½ cup water