Prepare the marinade by combining soy sauce, minced garlic, honey, olive oil, sesame oil, and black pepper in a bowl.
Place the chicken thighs in a resealable bag or shallow dish, then pour the marinade over them, ensuring they're well coated.
Seal the bag or cover the dish, then refrigerate for at least 30 minutes, or ideally for 2-4 hours.
Preheat your grill or oven to medium-high heat (375°F to 400°F).
Remove the chicken from the marinade, allowing excess to drip off, then discard the used marinade.
Grill or bake the chicken thighs for about 6-7 minutes per side, or until they reach an internal temperature of 165°F.
Let the chicken rest for 5 minutes before serving to allow juices to redistribute.
Garnish with chopped green onions before serving.