In a mixing bowl, whisk together soy sauce, honey, hoisin sauce, five-spice powder, rice vinegar, minced garlic, grated ginger, and sesame oil until well combined.

Reserve 1/4 cup of the marinade for basting later.

Place the chicken thighs in a resealable plastic bag or shallow dish and pour the marinade over the chicken.

Seal the bag or cover the dish and refrigerate for at least 2 hours, preferably overnight for maximum flavor.

Preheat the oven to 375°F (190°C).

Remove the chicken from the marinade and place it on a baking sheet lined with foil.

Bake in the preheated oven for 30-40 minutes, basting with the reserved marinade halfway through, until the chicken reaches an internal temperature of 165°F (74°C).

For a caramelized finish, broil the chicken for an additional 2-3 minutes at the end of cooking.

Let the chicken rest for 5 minutes before slicing.

Serve with steamed rice and vegetables, drizzled with any remaining sauce.