Preheat the oven to 350°F (175°C) and prepare a muffin tin with liners.
In a mixing bowl, combine the grated carrots, tahini, honey (or maple syrup), egg, and milk until well blended.
In a separate bowl, whisk together the flour, baking powder, baking soda, cinnamon, and salt.
Gradually mix the dry ingredients into the wet ingredients until just combined.
Spoon the batter into the prepared muffin tin, filling each liner about two-thirds full.
Bake in the preheated oven for 20-25 minutes, or until a toothpick comes out clean.
Allow the muffins to cool in the tin for about 5 minutes before transferring to a wire rack.
Enjoy your Carrot Tahini Muffins warm or at room temperature!