Comí pollo al sésamo en el almuerzo. or Comí pollo al ajonjolí en el almuerzo. depending on the country you can say "sesamo" or "ajonjoli" , in Mexico we use "Ajonjolí" when you are talking about food you can not transalate "I had" as "Yo tenia " because it sounds like the 'lunch' is something that used to belong to you , no something you just ate like in this sentence "I had a blue pencil" thas why "Yo tenia pollo al sésamo para el almuerzo." doesnt sound natural. "I had a blue pencil"

Yo tenia pollo al sésamo para el almuerzo.

Se puede decir "Almorcé pollo al sésamo"