Cut the eggplants in half lengthwise. Cut a slit down the middle of each half, but not through the skin. Salt lightly and let sit for 10-20 minutes, then blot with a paper towel. If using homegrown, or farmers market eggplants you may skip this step.
Preheat oven to 425 F. Line a baking sheet with parchment.
In a small bowl, combine sesame oil, mirin, miso, honey, and vinegar. Mix until smooth.
Place the eggplant, skin side down, on the sheet pan and top with the miso mixture to coat completely.