"Open Sesame" was a phrase often uttered while opening locked doors or other objects.
Clyde Langer tried saying "Open Sesame" to get the Verron puzzle box open. (TV: The Temptation of Sarah Jane Smith)
The Fourth Doctor tried it too when trying to open a door in the Chancellory on Gallifrey. He soon found out that, while it did work on a voice print, the phrase that unlocked it was, "There's nothing more useless than a lock with a voiceprint." (TV: The Invasion of Time)
Peri Brown added "sesame" when the Sixth Doctor yelled "open" while trying to force a bulkhead on Vipod Mor. The Doctor did not appreciate her attempt at humor. (AUDIO: Slipback)
Jack Harkness uttered the phrase while opening the rift-safe thought safe. (COMIC: Overture)
The Tenth Doctor shouted it while opening the gates to Zhe Ikiyuyu's inner yard with his sonic screwdriver. (COMIC: The Arts in Space)