Remove the leaves from the stems of the greens. Cut the leaves into 1-inch pieces. Discard the stems or reserve for another use. Prepare an ice bath and set aside.
In a large saucepan set over high heat, bring 4 cups of salted water to a boil. Add the greens and return the water to a boil. Reduce the heat to medium and cook until the greens are tender, about 5 minutes.
Drain and place the greens in the ice bath to stop the cooking. Remove from the ice bath and wrap in a large kitchen towel. Squeeze out as much excess water from the greens as possible. Set aside.
In a large skillet set over medium heat, warm the olive oil. Add the garlic, shallot, sesame seeds and rosemary and cook, stirring, until the sesame seeds begin to lightly brown, about 4 minutes. Stir in the reserved greens, honey and cider vinegar. Toss until the greens are well coated and heated through, about 3 minutes. Season with salt and pepper. Drizzle with the sesame oil and serve immediately or at room temperature.