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Preheat the oven to 350°F.
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In an 8" or 10" ovenproof skillet, melt the butter over medium heat. Remove from the heat and let it cool slightly.
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Meanwhile, in a small bowl, mix the tahini and maple syrup until smooth. If the mixture is thick or grainy, add cold water, 1 tablespoon at a time, whisking until it smooths out and becomes shiny. (You may need up to 3 tablespoons or 43g.) Set the tahini mixture aside.
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Whisk the brown sugar into the melted butter in the skillet until no lumps remain, then whisk in the eggs, one at a time, until the mixture is shiny and smooth. Whisk in the vanilla.
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Add the flour, cocoa, baking powder, and salt and whisk vigorously to combine. Smooth the top of the batter.
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Dollop the tahini mixture all over the top of the batter, then use a toothpick or a butter knife to swirl it in a decorative pattern.
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Bake the chocolate skillet cake for 18 to 20 minutes, until the cake is just set and a toothpick or thin knife inserted into the center comes out with a few moist crumbs attached. (It’s better to underbake than overbake this cake.)
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Set the skillet on a rack to cool slightly.
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Serve the cake warm, topped with ice cream, if desired. Store leftovers in an airtight container at room temperature for up to 3 days.