Mix soy sauce, honey, sherry wine vinegar (or rice wine vinegar), sesame oil, vegetable oil, ground ginger, minced garlic, and dried cilantro (or parsley) in a measuring cup.

Pour half or a bit more of the marinade into a baggie. Save the remaining marinade to use as a glaze while grilling.

Add chicken thighs to the baggie with the marinade and toss to coat well.

Marinate for 4-8 hours (ideally 8 hours, but even 1-2 hours will impart good flavor).

Preheat grill to medium-high heat.

Grill chicken thighs to get good grill marks, being careful to avoid flare-ups.

Baste the chicken with the reserved marinade a few times as it grills.

While the chicken is grilling, add sesame seeds to a small dry skillet.

Cook the sesame seeds for 1-2 minutes to lightly toast them, then transfer to a small bowl.

During the last minute of grilling, brush the chicken lightly with the remaining marinade and flip once.

Remove chicken from the grill using tongs.

Lightly dip the top of each thigh into the toasted sesame seeds to create a light topping.

Serve immediately.