Heat canola oil over medium heat in a large wok. Add garlic and ginger and cook until aromatic, about 30 seconds. Stir in mushrooms and cook until they soften. Add bok choy and cook until leaves just barely start to wilt and stems become slightly softened, about 4 minutes.
Meanwhile, in a small bowl, whisk together rice wine vinegar, soy sauce, and maple syrup. Pour into wok once bok choy has softened and stir to coat. Cook for an additional 1-2 minutes.
Sprinkle with sesame seeds, taste and adjust seasoning.