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1
Combine the joshinko and shiratamako in a bowl. Add water gradually, working the mixture with the hands until a cohesive dough forms. Knead firmly and continuously until the surface is smooth, without cracks or rough patches. The dough should be stiff enough to roll cleanly between the palms; if it clings or slumps, it is too wet.
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2
Divide the dough into portions of approximately 15–18 g each and roll between the palms into smooth spheres. Bring a large pot of water to a full boil. Lower the dango into the boiling water in batches, taking care not to crowd the pot. After 2–3 minutes the dango will rise to the surface; remove them within 30 seconds of floating. Transfer immediately to a bowl of cold water, then drain.
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3
Thread the dango onto bamboo skewers — five per skewer for the Kyoto presentation, four for the Tokyo style. Place skewers on a wire rack over direct high heat, or under a fish grill. Grill for 60–90 seconds per side until distinct charred spots appear on the dango surface. This step is where the dish lives or dies: without the charred exterior, the toasted note that balances the sweet-savoury tare is absent, and the textural contrast between glaze and dumpling is lost.
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4
Combine the soy sauce, sugar, mirin, and water in a small saucepan. Bring to a simmer over medium heat, stirring to dissolve the sugar. Whisk the slaked katakuriko into the simmering liquid in a thin stream, stirring constantly. Cook until the sauce turns translucent and glossy and coats the back of a spoon but still flows freely off it. A gluey, opaque consistency indicates excess starch; a sauce that runs without coating indicates too little. Remove from heat.
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5
Spoon or brush the hot mitarashi tare over the grilled dango immediately before service. The tare should settle in a smooth, glossy coat that clings without pooling or hardening.