Preheat your oven to 375°F (190°C).
In a large bowl, whisk together honey, soy sauce, garlic, and ginger.
Season the chicken thighs with salt and pepper.
Heat olive oil in an oven-safe skillet over medium-high heat.
Sear the chicken thighs for about 4-5 minutes on each side until golden brown.
Pour the honey mixture over the chicken in the skillet.
Transfer the skillet to the preheated oven.
Bake for 15-20 minutes, basting with sauce halfway through.
Once cooked, remove from oven and let rest for 5 minutes.
Garnish with sesame seeds and cilantro before serving.