In a blender or food processor, combine garlic, olive oil, sesame seeds, tahini, lemon juice, and garbanzo beans (reserve about a tablespoon of beans for garnish). Blend, adding reserved garbanzo-bean liquid if needed until hummus reaches desired consistency. Season with salt and pepper.
Transfer the mixture to a medium serving bowl. Garnish in the middle with reserved garbanzo beans. Sprinkle orange and lemon peel around the beans. Chill in the refrigerator, tightly covered, until ready to serve.