1) Combine the balsamic vinegar, honey, brown sugar, soy sauce, rosemary sprigs, and garlic cloves in a large, resealable plastic bag. Shake and squeeze the contents of the bag to dissolve the honey and brown sugar.

2) Add the chicken drumsticks to the bag and seal with as little air as possible in the bag.

3) Place in the refrigerator and marinate for 2 hours.Preheat the oven to 450 degrees F.

4) Place the chicken drumsticks on a foil-lined baking sheet.

5) Bake until the skin is caramelized and very dark in spots, about 30 to 35 minutes.Meanwhile, place the marinade in a small saucepan. Bring the marinade to a boil. Reduce the heat to simmer and cook over low heat until thick, about 15 minutes. Reserve.Use a pastry brush to brush some of the boiled marinade on the cooked chicken.

6) Place the chicken on a serving platter.

7) Sprinkle with the sesame seeds and the chopped parsley.