Preheat oven to 400°F (200°C).
In a small bowl, whisk together soy sauce, honey, rice vinegar, garlic, ginger, sesame oil, and black pepper.
Place chicken thighs skin-side up in a baking dish.
Pour the soy garlic mixture evenly over the chicken.
Bake for 35-40 minutes, basting once halfway through, until chicken is cooked through and golden.
Garnish with sliced green onions and toasted sesame seeds before serving.