Combine the balsamic vinegar, honey, soy sauce/tamari and garlic cloves in a large bowl. Add the chicken and stir well to cover in the marinade.

Cover and refrigerate for 2 hours minimum.

Preheat oven to 220˚C/450˚F. Line a large oven tray or roasting tin with foil. Place a cooling rack over the foil.

Transfer the chicken to the tray, reserving the marinade. Bake for 30 minutes.

Meanwhile, pour the marinade into a saucepan. Place over a medium/high heat and bring to the boil. Reduce heat to low and simmer, stirring frequently.

Brush the marinade onto the chicken. Turn and repeat until all of the marinade is used up. Bake for 10 minutes.

Sprinkle with the sesame seeds and the chopped parsley.

Store any leftovers in an airtight container and refrigerate for up to 3 days.