Pat chicken dry, season lightly with pepper. Heat oil in a large skillet over medium-high.
Sear thighs skin-side down 6–7 minutes until golden; flip and cook 4 minutes. Remove and set aside.
Reduce heat to medium; add garlic and cook 30 seconds until fragrant.
Stir in honey, hoisin, soy sauce, and vinegar; simmer 1–2 minutes to thicken slightly.
Return chicken to skillet, spoon sauce over, cover and simmer 10–12 minutes until cooked through (internal 165°F).
Sprinkle with scallions and sesame seeds before serving.