Chop the dates coarsely. (I used a food processor to do this.)
Chop the walnuts coarsely. (You may toast them if you wish, but I didn’t.) Grind the almonds to a powder (again, use the food processor).
In a small saucepan, combine the dates and 1/2 cup soy milk. Bring to a boil and then simmer on medium-low heat, stirring often, till the dates break down and the mixture cooks into a thick consistency that leaves the sides of the saucepan. If it seems to be drying out before the dates break down, add some more soy milk, up to another 1/4 cup.
Turn off the heat. Stir in walnuts, cardamom and a pinch of salt and combine well. Let the mixture cool almost to room temperature.
Place the date mixture on a plastic sheet and form it into a long roll. Roll it in almond powder to get it coated.
Place the roll in the freezer for an hour or more, then cut into 1/2 inch thick slices. Sprinkle sesame seeds on the slices if desired. (Supposedly you can store these in the freezer for a quick treat, but I wouldn’t know; they were all gone pretty fast when I served them.)