In a mixing bowl, combine the soy sauce, honey, rice vinegar, sesame oil, minced garlic, grated ginger, and black pepper. Whisk until well blended to create the marinade.
Place the chicken thighs in a large resealable bag or a shallow dish, and pour the marinade over the chicken. Ensure all pieces are well coated. Seal the bag or cover the dish, and refrigerate for at least 30 minutes (or up to 2 hours for maximum flavor).
Heat a large skillet or frying pan over medium-high heat. Remove the chicken thighs from the marinade (reserve the marinade for later) and place them skin-side down in the hot skillet.
Sear the chicken thighs for about 4-5 minutes until the skin is golden brown and crispy. Flip them over and reduce the heat to medium.
Add the reserved marinade to the skillet, and cover. Let the chicken cook for an additional 20-25 minutes, basting occasionally, until the juices run clear and the internal temperature reaches 165°F (75°C).
Once cooked, remove the chicken thighs from the skillet and let them rest for a few minutes. This helps to keep them juicy.
In the meantime, raise the heat to high and let the sauce simmer for a few minutes to thicken if desired.
Serve the chicken thighs drizzled with the thickened sauce, garnished with chopped green onions and sesame seeds.