Wash eggplants and, with fork, prick them in about 5 spots. Grill whole eggplants over medium-hot coals. Turn about every 5 minutes to evenly char skin. Grill until just soft and charred all over, about 20 minutes. Cool. Cut in half and scoop out insides (you may find it easier to peel skin off with your fingers if eggplant gets too mushy).
In food processor fitted with metal blade, combine eggplant, garlic,salt, sugar, tahini, lemon juice and pepper. Puree until smooth. If mixture seems too thick, add a little water to achieve desired consistency. Adjust seasoning.
* This paste, made from sesame seeds, is available at most grocery stores. Makes 2 cups depending on size of eggplants.