Preheat the grill over medium-high direct heat. Brush oil on the grill grates.
Finely chop the cilantro and scallions, and mix in 2 teaspoons of the oil and the ginger.
Cut two 3-inch long slits through the skin lengthwise on the bottom of the salmon fillets, going about halfway into the salmon. Evenly stuff the slits with the herb mixture. Sprinkle the fish all over with 1/2 teaspoon salt and some pepper.
Stir together the honey, lime juice and soy sauce until smooth. Place the salmon skin-side up on the grill and cook until well-marked, 3 to 4 minutes. Turn the salmon and continue to cook, brushing the tops with the sauce, until the fish is cooked through, about another 3 to 4 minutes. Transfer to a serving plate and sprinkle the tops with the sesame seeds.
Combine the edamame, 1 tablespoon water and 1/4 teaspoon salt in a microwave-safe bowl. Cook on high until warm through, about 3 minutes.
Divide the salmon, edamame, brown rice and orange wedges evenly among four plates. Serve each with a glass of milk.