Combine the condensed milk, cocoa powder, salt, and butter in a pan over medium heat and stir until well combined and thickened. Allow it to thicken up until it looks almost dry and when pressed, the indentation stays. Cool to room temp and place in the fridge to set.
Once cool, scoop out about ½ tablespoon and form into balls. Set aside.
In a separate bowl, combine glutinous rice flour and water then mix until a dough forms. Knead until the dough becomes smooth and doesn’t stick to your hands or to the bowl.
With damp hands, measure out about a heaping tablespoon of dough and form into a ball.
Flatten the dough and place a ball of filling into the center. Fold, shape, and seal the edges of your dough to secure the filling inside the patty-shaped dough. Repeat for all.
In a large pot over medium-high heat, bring water to a boil and gently place the stuffed dough. Boil in batches and do not overcrowd the pot. Once the palitaw starts to float, leave it for about 2 minutes longer before removing with a slotted spoon to drain off excess water.
Roll palitaw in grated coconut and sprinkle sugar and sesame seeds on top.
Serving Size makes 12 pieces