Whisk honey, soy sauce, balsamic, garlic, Dijon, and olive oil in a bowl; season lightly.
Pat chicken dry, season with salt and pepper, then coat with half the marinade; reserve the rest.
Heat a large ovenproof skillet over medium-high heat; sear thighs skin-side down 5–6 minutes until golden.
Flip, spoon reserved marinade over thighs, then transfer skillet to a 400°F (200°C) oven for 18–22 minutes until internal temp reaches 165°F (74°C).
Rest 5 minutes, spoon pan juices over chicken, and sprinkle parsley.