Please excuse the lopsided dango - I made these myself!
I got the recipe from cookpad.com (a Japanese cooking site similar to allrecipes.com).
Dango are pretty easy to make, but they take some practice to make well!
Basically, you mix joushinko (a type of rice flour) with water, knead well, roll it into balls, and boil them.
The dough is really hard to knead, and it won't be sticky, so it's hard to know how long to knead it.
However, if you don't knead it well enough, the dango won't become sticky after they are boiled!
Dango made from rice flour will become hard the next day, similar to the way day-old rice is hard. Some people knead some tofu into their dango, which helps to keep the dango soft. I like dango with tofu because it lightens the texture!
Mitarashi (the sauce) is made from soy sauce and sugar, thickened with soy sauce. I like to add mirin (a kind of sweet cooking wine) to the sauce to give it a nice glaze.
Eki-chan, hope that helped!