Combine the tamarind paste, jaggery, salt and sambar powder in a bowl. Mix well until jaggery is completely dissolved.
Grind the poha into a coarse sooji/ semolina like texture. Take poha in a strainer or colander and wash under running water. Place the washed poha in a bowl. Poha should still be a little wet and not completely dry.
Add the poha to the tamarind mixture and mix well to coat everything evenly. Cover and set aside for 15~20 minutes.
In the meantime roast the sesame seeds until lightly browned. Cool and grind to a powder. Set aside.
Heat 1tbsp oil in a pan; add urad dal and mustard seeds and once the seeds start to splutter, add the curry leaves, hing and peanuts; cook for 1 minute.
Next add the poha and turmeric mix well, cover and cook for 4~5 minutes. Add the sesame seed powder and adjust the salt and jaggery. Mix well and turn off the heat.
Add grated coconut and cilantro; serve immediately.