Dango are small balls which are made by kneading rice flour and water, and steaming or boiling them.
As for Mitarashi Dango.
We usually, fix some dango (three to five) on a bamboo skewer.
Grill it lightly.
And cover it with soy sause and sugar besed sauce.
The sauce is made by mixing soy sauce, mirin(sweet sake), sugar, Kuzuko or potato starch, and water, and so on, and simmering them.