Spray a 9 x 13 inch baking pan with cooking spray. Place chicken legs in pan, skin side down. Cover with foil and bake in 400 degree oven for 25 minutes.
While chicken is baking, combine mustard, soy sauce, honey, vinegar and garlic in small bowl. Stir until well combined.
Uncover chicken and turn skin side up. Pout mustard mixture over chicken and sprinkle with sesame seeds.
Return to oven and bake, uncovered, until meat near thighbone is no longer pink when slashed (about 15 minutes).
Sprinkle grapes around chicken and bake just until grapes start to burst and are heated through (about 10 minutes).
I know chicken and grapes sounds off but are very delicious together. I like to serve with rice.
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