The problem of reversible circuit synthesis has become very important with increasing emphasis on low-power design and quantum computation. Many synthesis approaches for reversible circuits have been reported over the last decade. Among these approaches, those based on the exclusive-or sum-of-products (ESOP) realization of functions have been explored by many researchers because of two important reasons: large circuits can be handled, and the mapping from ESOP cubes to reversible gate netlist is fairly straightforward. This paper proposes a simulated annealing (SA)-based approach for transforming the ESOP cubes generated from Exorcism-4 tool using some cube mapping rules, followed by a strategy to map the ESOP cubes to a netlist of reversible gates. Both positive-and negative-control Toffoli gates are used for synthesis. Synthesis results on a number of reversible logic benchmarks show that for many of the cases, it is possible to get a reduction in quantum cost against the best-known methods.