Preheat your oven to 400°F (200°C).
In a bowl, mix soy sauce, honey, sriracha, garlic, ginger, sesame oil, and rice vinegar.
Add chicken to the marinade and let it sit for at least 30 minutes.
Line a baking sheet with parchment paper.
Place the marinated chicken on the sheet, ensuring they are spaced apart.
Bake in the preheated oven for 25-30 minutes until fully cooked.
Flip the chicken halfway through for even cooking.
Sprinkle sesame seeds on top during the last 5 minutes of baking.
Remove from the oven and let it rest for a few minutes.
Garnish with fresh cilantro before serving.