In a large mixing bowl, whisk together the balsamic vinegar, honey, olive oil, minced garlic, dried thyme, salt, and black pepper until well combined.
Add the chicken thighs to the marinade, ensuring they are well coated. Let them marinate for at least 30 minutes at room temperature, or refrigerate for up to 2 hours for deeper flavor.
Heat an oven-safe skillet over medium-high heat. Once hot, place the marinated chicken thighs skin side down in the skillet. Sear for about 5-7 minutes until the skin is crispy and golden brown.
Flip the chicken thighs over and spoon some of the remaining marinade over them.
Transfer the skillet to the preheated oven and bake for 25-30 minutes, or until the internal temperature reaches 165°F (75°C) and the juices run clear.
Remove the skillet from the oven and let the chicken rest for 5-7 minutes.
Serve the chicken thighs drizzled with the pan juices, garnished with fresh rosemary. Pair with quinoa or rice if desired.
Notes
For deeper flavor, marinate the chicken for up to 2 hours.