Combine the balsamic, honey, brown sugar, soy sauce, rosemary sprigs and garlic cloves in a large, re-sealable plastic bag.
Shake and squeeze the contents of the bag to dissolve the honey and the brown sugar.
Add the chicken to the bag and seal with as little air as possible in the bag.
Place in the refrigerator and marinate for 2 hours.
Preheat the oven to 450 degrees.
Place the chicken on a foil-lined baking sheet and reserve the marinade.
Bake until the skin is caramelized and very dark in spots, about 30-35 minutes.
Meanwhile, place the marinade in a small saucepan. Bring the marinade to a boil (to kill the bacteria).
Reduce the heat to simmer and cook over low heat until thick, about 15 minutes. Put aside.
When chicken is done, brush with marinade.
Place the chicken on a serving platter and sprinkle with sesame seeds and the chopped parsley.
Originally Submitted
6/29/2009
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