1. In a large cooking pot, heat 2 tbsp sesame oil and cook garlic, ginger and sesame until fragrant. Add pork and stir-fry until the meat is no longer pink.
2. Pour the water (1L), and add all the seasoning ingredients, soy milk (1L). Bring it to almost boil and set aside.
3. Boil the udon noodles according to the package directions, drain them very well and transfer into a milky bouillon which you have made (step 2). Bring it to a boil and simmer for a few minutes. Divide the udon and soup into serving bowls.