Preheat the oven to 400°F (200°C) and lightly grease a large baking dish.
Pat the chicken thighs dry with paper towels and place them in the baking dish.
Drizzle with olive oil and season with salt, pepper, and paprika.
In a small bowl, whisk together the honey, garlic, soy sauce, apple cider vinegar, Dijon mustard, and onion powder.
Reserve 2 tablespoons of the sauce for serving.
Pour the remaining sauce over the chicken thighs, turn them to coat, then arrange skin-side up in the baking dish.
Bake for 35–40 minutes, basting once halfway through.
Check the internal temperature — chicken thighs are done at 175°F–185°F with golden brown skin.
For a sticky caramelized finish, broil for 2–3 minutes at the end, watching carefully as honey burns quickly.
Brush with the reserved honey garlic sauce.
Sprinkle with chopped parsley and sesame seeds and serve immediately.