Torrefaction encourages homogeneity and enhances the energy-producing capabilities of biomass. In the current study, bean husk (BH) and sesame stalks (SS) were torrefied for 30 and 60 min at operating temperatures of 200, 225, 250 and 275, and 300 °C with nitrogen purging. Mass yield (MY), higher heating value (HHV), energy yields (EY), and torrefaction severity index (TSI) were examined. The variations of the biochar characteristics, pyrolysis kinetics by applying two models (Coats and Redfern (CR) and Direct Arrhenius (DA)), and crystallinity index (CRI) were depicted. Depending on pyrolysis kinetics, thermodynamic activation parameters were derived to elucidate biomass pyrolysis. The alterations in the torrefied materials’ composition were also analyzed using Fourier transform infrared spectroscopy (FTIR). The calculations revealed that the torrefied SS and BH decreased MY by 32.74, 29.02% and decreased EY 26, 20.97%, increased high heating values by 14.1, 13.52%, increased fixed carbon by 55.1, 39.91% respectively, and had a slight reduction in bulk density (approximately 2%). Generally, 275 °C and 30 min were the optimal conditions for a balanced torrefaction of SS and BH based on the HHV that reached to 20.5, 16.2 MJ/kg and EY that reached to 86.16 and 85.56% respectively. The FTIR, XRD, and the thermogravimetric results showed that the torrefaction treatment altered samples owing to carbohydrate breakdown, a rise in lignin, and a reduction in hemicellulose as the temperature of the torrefaction process increased. The CR methodology yielded greater frequency factor (A) and activation energy (Ea) values than the DA method. The broadest peak width, lowest average Ea, and lnA were seen in sesame stalks that had been torrefied at 300 °C and 30 min that reached to 107.85 (kJ/mol) and 13.57 (min−1). Results indicated an excellent linear relationship with the index of comprehensive pyrolysis (CPI), CRI, atomic H/C ratio, severity index, and EY.