Coat a large griddle or grill pan with cooking spray and preheat to medium-high.
Skewer alternating pieces of pork and onion on metal or wooden skewers. Brush teriyaki sauce all over onion and pork and roll skewers in sesame seeds. Place skewers on hot pan and cook 3 to 5 minutes, until seeds are golden brown.
In a medium saucepan, combine rice, curry powder, cumin, lemon zest, broth, raisins, and nuts. Bring to a simmer. Cook 3 minutes to heat through. Fold in cilantro and season with salt and pepper.