Preheat your oven to 375°F (190°C) and line a baking sheet with parchment paper.

In a bowl, mix together the soy sauce, honey, brown sugar, minced garlic, and grated ginger.

Place the chicken drumsticks in a large resealable plastic bag and pour the marinade over them. Seal the bag and marinate in the refrigerator for at least 30 minutes (or up to 4 hours for better flavor).

Remove the drumsticks from the bag and place them on the prepared baking sheet, reserving the marinade.

Drizzle the olive oil over the drumsticks and season with salt and pepper.

Bake in the preheated oven for 30-35 minutes or until the chicken is cooked through, turning them halfway through and basting with the reserved marinade.

Sprinkle with sesame seeds before serving (if desired).