I was first introduced to these beans in a Japanese restaurant. They were served in the shell as an appetizer. You are supposed to put the pod up to your mouth and squeeze the seeds (or peas) into your mouth.
At home, I boil them, cool them and shell them into serving bowl and put salt and sesame oil on them and serve as a vegetable. I have also shelled them and made them into a salad. They are supposed to be eaten at room temperature as far as I know.