In a large bowl, mix together the ground meat with yogurt until well combined.
Add minced garlic, cinnamon, salt, and pepper. Mix thoroughly to ensure even distribution of spices throughout the mixture.
Divide the mixture into four equal portions on a clean cutting board or surface.
Shape each portion with your hands into long cylindrical rolls about 1/2 inch thick (about golf-ball sized).
Let them rest for at least half an hour, wrapped tightly and refrigerated. This helps the meat bind together to form a more cohesive patty.
Once chilled, slice each cylinder into 1/4 inch thick pieces using a sharp knife or deli slicer (optional but recommended).
Thread several skewers through one piece at a time and grill until cooked to desired doneness. Serve with tahini sauce on the side.