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In a small saucepan combine soy sauce, mirin, honey, ginger and garlic. Bring to a boil; reduce heat. Simmer, uncovered, about 10 minutes or until reduced to 1/4 cup. Remove from heat; set aside.
Blanch broccoli rabe for 2 minutes; drain well. Drizzle broccoli rabe with sesame oil. Sprinkle steaks with salt and pepper.
For a charcoal or gas grill, place steaks, broccoli rabe, and shallots on a grill rack directly over medium heat. Cover and grill 10 to 12 minutes for medium-rare (145°F) or 12 to 15 minutes for medium (160°F). Grill broccoli rabe 4 minutes and shallots 6 to 8 minutes or untll tender and lightly charred, turning once. The last 3 minutes of grilling time, brush steaks with the teriyaki glaze.
When cool enough to handle, slice shallots. Sprinkle broccoli rabe with sliced shallots and sesame seeds. Serve with the steak.