Season thighs with salt and pepper. Heat oil in a large skillet over medium-high heat.
Brown chicken 4–5 minutes per side until golden; remove and set aside.
Add garlic and ginger to skillet; cook 30 seconds until fragrant.
Stir in soy sauce, honey, vinegar, and brown sugar; simmer 2 minutes.
Return chicken to skillet, cover, and cook 10–12 minutes until internal temp reaches 165°F.
Remove chicken, whisk cornstarch slurry into sauce; simmer until thickened.
Toss chicken in sauce, sprinkle sesame seeds and green onions, then serve over rice.