In a large bowl, combine honey, soy sauce, minced garlic, grated ginger, apple cider vinegar, sesame oil, salt, and pepper. Mix well to create the marinade.
Place the chicken drumsticks into the marinade, ensuring they are well coated. Cover and refrigerate for at least 1 hour, or overnight for best results.
Preheat your oven to 425°F (220°C).
Line a baking sheet with aluminum foil and place a cooling rack on top.
Remove the drumsticks from the marinade and place them on the cooling rack. Reserve the marinade for later use. Bake the chicken in the preheated oven for 25 minutes.
After 25 minutes, remove the drumsticks and baste them with the reserved marinade. Return them to the oven and bake for an additional 10-15 minutes until the chicken is cooked through and has a nice glaze.
For extra crispiness, switch the oven to broil mode and broil the drumsticks for 3-5 minutes, watching closely to avoid burning.
Once done, remove the chicken from the oven and let it rest for a few minutes. Garnish with sliced green onions and a sprinkle of sesame seeds before serving.