In a dry, nonstick skillet over medium heat, add sesame seeds. Cook for 1 minute, stirring occasionally. Add garlic, cook for 2 minutes. Set aside.
Drain and rinse chickpeas.
In a food processor, add sesame seeds, garlic, and lemon. Puree to break up the seeds.
Add chickpeas, milk, parsley, salt, and paprika. Puree until desired consistency. Scrape down the sides as needed. If the hummus seems too thick, thin with water.