Preheat your oven to 400°F (200°C).
In a medium bowl, whisk together soy sauce, brown sugar, honey, rice vinegar, garlic, ginger, and black pepper until well combined.
In a large oven-safe skillet, heat the vegetable oil over medium-high heat. Add the chicken thighs skin-side down and sear for about 5-7 minutes until the skin is golden brown.
Flip the chicken thighs over and pour the glaze over the top.
Transfer the skillet to the preheated oven and bake for 25-30 minutes, or until the chicken reaches an internal temperature of 165°F (75°C).
Remove the skillet from the oven and let the chicken rest for 5 minutes.
If desired, sprinkle with sesame seeds and sliced green onions before serving.