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Mix balsamic, honey, brown sugar, soy sauce, rosemary, and garlic in a big ziploc bag.
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Shake and squeeze the contents of the bag to dissolve the honey and the brown sugar.
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Add the chicken to the bag and seal trying to leave as little air as possible.
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Marinate in the fridge for 2 hours
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Preheat the oven to 450°F.
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Place chicken on a foil-lined baking sheet.
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Bake until the skin is caramelized (about 30 to 35 minutes).
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Place marinade in a saucepan and bring to a boil; reduce heat to simmer on low heat until it thickens (15minutes).
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Brush some of the cooked marinade over the chicken (once the chicken is cooked).
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Sprinkle with sesame seeds and parsley when serving.