Steps:
- Combine the balsamic vinegar, honey, brown sugar, soy sauce, rosemary sprigs, and garlic cloves in a large, resealable plastic bag. Shake and squeeze the contents of the bag to dissolve the honey and the brown sugar. Add the chicken drumsticks to the bag and seal, squeezing out as much air from the bag as possible. Marinate in the refrigerator for 2 hours.
- Preheat the oven to 450°F. Line a rimmed baking sheet with aluminum foil.
- Remove the chicken drumsticks from the bag, reserving the marinade, and arrange them on the prepared baking sheet. Bake until the skin is caramelized and very dark in spots, 30 to 35 minutes.
- Meanwhile, place the marinade in a small saucepan. Bring the marinade to a boil, then reduce the heat to a simmer and cook over low heat until thick, about 15 minutes.
- Use a pastry brush to brush some of the cooked marinade on the cooked chicken. Place the chicken on a serving platter. Sprinkle with the sesame seeds and the chopped parsley.
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