Preheat your oven to 400°F (200°C). Line a baking sheet with aluminum foil and place a wire rack on top for even cooking.
In a medium bowl, whisk together the marinade ingredients: honey, soy sauce, minced garlic, grated ginger, rice vinegar, sesame oil, and black pepper until well combined.
Place the chicken drumsticks in a large resealable plastic bag or bowl. Pour the marinade over the drumsticks, ensuring they are evenly coated. Seal the bag or cover the bowl and marinate in the refrigerator for at least 30 minutes, preferably up to 4 hours for more flavor.
Remove the marinated drumsticks from the marinade and let excess marinade drip off. Arrange the drumsticks on the wire rack over the baking sheet, ensuring they have enough space for even cooking.
Bake the drumsticks in the preheated oven for 30 to 35 minutes, or until the chicken is cooked through and the skin is crispy and caramelized. Turn the drumsticks halfway through cooking for even browning.
In the last 5 minutes of cooking, you can brush the drumsticks with any remaining marinade for added flavor, but ensure they reach a safe internal temperature.
Once cooked, remove the drumsticks from the oven and let them rest for a few minutes. Garnish with chopped green onions and optional sesame seeds before serving.
Notes
Serve with steamed rice or a fresh salad. Drizzle remaining glaze over the drumsticks for extra flavor.