In a container large enough to marinate chicken in, combine hoisin, balsamic vinegar, honey, sesame oil, ginger and garlic. Stir to combine.
Prick holes in the chicken skin using a sharp knife, toss in marinade and then leave to marinate, skin side down for 2 or more hours.
Pre-Heat oven to 400 degrees fahrenheit. Line a baking sheet with tin foil and lay chicken thighs on top. Reserve marinade. (Alternatively you can throw your chicken thighs on your BBQ Grill).
In a small saucepan, bring the leftover marinade to a boil, lower heat and simmer for 15 minutes to reduce and thicken marinade.
Bake your chicken thighs for 30 minutes (or until cooked through). Baste your chicken with the reduced marinade at the 15 minute mark and the 25 minute mark.
When chicken is done cooking toss in leftover marinade then sprinkle with sesame seeds and cilantro. Serve and enjoy