Prepare the marinade by mixing soy sauce, sesame oil, honey, garlic, and ginger in a bowl.
Add the chicken thighs to the marinade, ensuring each piece is well-coated. Cover and refrigerate for at least 30 minutes, ideally up to 2 hours.
Preheat the grill to medium-high heat and oil the grates to prevent sticking.
Remove the chicken from the marinade, allowing excess liquid to drip off. Reserve the marinade for brushing later.
Place the chicken on the grill and cook for about 6-7 minutes on each side, or until the internal temperature reaches 165°F.
During the last few minutes of cooking, brush the reserved marinade onto the chicken to enhance flavor and create a glaze.
Remove the chicken from the grill and let it rest for 5 minutes before slicing.
Serve the grilled chicken garnished with sesame seeds and sliced green onions.
