Let's assume Bob ate x pieces of the sandwich and Sarah ate y pieces of the sandwich.
Since they each cut their sandwich into fifths, and each ate about half of their sandwich:
Bob ate \frac{1}{2} \times 5 = \frac{5}{2} = 2.5 pieces of the sandwich.
Sarah ate \frac{1}{2} \times 5 = \frac{5}{2} = 2.5 pieces of the sandwich.
Since they ate a different number of pieces, we know that x and y are different. The only two possibilities are:
Bob ate 2 pieces and Sarah ate 3 pieces
OR
Bob ate 3 pieces and Sarah ate 2 pieces.
So, Bob ate 2 pieces and Sarah ate 3 pieces (x = 2 \text{ and } y = 3) , or vice versa.
Answer:
\boxed{\text{Bob ate 2 pieces and Sarah ate 3 pieces, or vice versa}}