In a medium bowl, whisk together the honey, minced garlic, soy sauce, apple cider vinegar, grated ginger, sesame oil, and a pinch of salt and pepper until well combined.
Place the chicken thighs in a resealable plastic bag or a shallow dish and pour the marinade over the top. Seal the bag or cover the dish with plastic wrap and refrigerate for at least 30 minutes, preferably a few hours for deeper flavor.
Preheat your oven to 425°F (220°C).
Remove the chicken from the marinade and place it skin-side up on a baking tray lined with parchment paper. Reserve the marinade for later. Bake the chicken for 25-30 minutes until the skin is golden and crispy, and the internal temperature reaches 165°F (74°C).
While the chicken bakes, pour the reserved marinade into a small saucepan. Bring it to a boil over medium heat, then reduce to a simmer. Let it thicken slightly, about 5-7 minutes, stirring occasionally.
Once the chicken is done baking, brush the thickened sauce over the chicken thighs for added flavor. Optionally, switch the oven to broil and broil for another 2-3 minutes for extra crispiness.
Transfer the chicken thighs to a serving platter. Drizzle any remaining glaze over the top and garnish with chopped green onions and sesame seeds.
Notes
For best flavor, marinate the chicken for a few hours.