In a mixing bowl, whisk together the soy sauce, honey, rice vinegar, sesame oil, minced garlic, grated ginger, and ground black pepper until well combined.
Place the chicken drumsticks in a large resealable plastic bag or a shallow dish and pour the marinade over them. Seal the bag or cover the dish, making sure the chicken is well coated. Marinate in the refrigerator for at least 1 hour, or up to overnight for maximum flavor.
Preheat your oven to 400°F (200°C). Line a baking tray with aluminum foil and place a wire rack on top.
Remove the drumsticks from the marinade, letting the excess drip off, and arrange them on the wire rack.
Reserve the marinade for later use. Bake the chicken drumsticks in the preheated oven for 35-40 minutes, or until the skin is crispy and the internal temperature reaches 165°F (74°C).
In the last 5 minutes of cooking, brush the reserved marinade over the drumsticks for an extra layer of flavor.
Once cooked, remove the drumsticks from the oven and let them rest for about 5 minutes.
Garnish with sliced green onions and a sprinkle of sesame seeds before serving.