Combine soy sauce, honey, brown sugar, rice vinegar, garlic, ginger, and sesame oil in a small saucepan over medium-low heat. Stir constantly for about three minutes until the sugar dissolves and the aroma becomes fragrant—this is your signal that the garlic is blooming, not burning.

Mix cornstarch and water in a small bowl until no lumps remain, then whisk it into the warm sauce. The mixture will thicken immediately, becoming glossy and clinging to the back of a spoon. This is the moment most teriyaki BBQ family recipes get wrong by skipping entirely.

Remove from heat and let the glaze cool for five minutes while you prep the chicken. Pat the thighs completely dry with paper towels—moisture is the enemy of grill marks and that caramelized exterior. I learned this the hard way after three seasons of waterlogged chicken.

Brush both sides of the chicken with vegetable oil, then season with black pepper. Oil the grill grates thoroughly and preheat to 400°F for about eight minutes. You'll know it's ready when you can only hold your hand above the grate for two seconds.

Place the chicken on the grill and do not move it for four minutes. Resist the urge to flip early—this is where the dark, appetizing crust develops. I confess I used to flip constantly until Tom pointed out the chicken looked pale and anemic compared to restaurant versions.

Flip once and brush the cooked side generously with the teriyaki glaze using a silicone brush. Grill for another four minutes, then flip back and brush the other side. Repeat this glazing pattern two more times over the next six minutes, letting each coat set before adding the next layer.

The chicken is done when the internal temperature reaches 165°F at the thickest point and the skin has a lacquered appearance with darkened edges. This should take about 12 to 15 minutes total depending on thigh thickness. Transfer to a clean plate and sprinkle toasted sesame seeds while the glaze is still warm.