Preheat the oven to 425°F. Line an 8x8-inch or similarly sized baking pan with foil. Place the chicken thighs in the pan.
In a small bowl, whisk together the honey, vegetable oil, soy sauce, vinegar, sesame oil, garlic, ginger, and pepper. Pour the mixture over the chicken, turning the chicken to coat.
Bake, uncovered, for 40 minutes, or until cooked through with an internal temperature of 165°F. If they are browning too quickly cover with foil.
Remove from the oven and transfer the chicken to four plates. Let rest for 5 minutes. Pour the remaining sauce in the pan over the chicken. Sprinkle with the sesame seeds before serving.