Place chicken thighs in a gallon-sized resealable bag.

In a mixing bowl, whisk together honey, soy sauce, vinegar, garlic and lemon juice. Pour mixture over the chicken, seal bag and store in the refrigerator for at least 4 hours (preferably overnight).

Preheat grill to medium heat. Discard marinade and cook chicken for 6-8 minutes on each side or until cooked through and reaches an internal temperature of 165 degrees F.

Garnish with sesame seeds and green onion before serving.