Preheat your oven to 400°F (200°C). Line a baking sheet with aluminum foil for easy cleanup and place a wire rack on top.
In a medium bowl, whisk together honey, soy sauce, minced garlic, ginger, apple cider vinegar, sesame oil, black pepper, and salt until well combined.
Place the chicken drumsticks in a large zip-lock bag or bowl. Pour half of the honey garlic marinade over the chicken, making sure all pieces are evenly coated. Seal the bag or cover the bowl and let it marinate in the refrigerator for at least 30 minutes (or up to overnight for more flavor).
Remove the chicken from the marinade, allowing excess marinade to drip off, and arrange the drumsticks on the wire rack. Reserve the remaining marinade for basting.
Bake in the preheated oven for 35-40 minutes, or until the chicken is cooked through and the skin is crispy, basting with the reserved marinade halfway through cooking.
For a sticky finish, switch the oven to broil for the last 3-5 minutes, keeping a close eye to avoid burning.
Once cooked, remove the drumsticks from the oven and let them rest for 5 minutes.
Garnish with chopped green onions and a sprinkle of sesame seeds if desired before serving.