Preheat oven to 350°F (180°C).
Place drumsticks side by side in a dripping pan.
Mix honey or maple syrup, teriyaki or soy sauce, and garlic. Brush chicken with sauce mixture (for more flavor, marinate the chicken in the mixture for at least 30 minutes in the refrigerator).
Sprinkle chicken generously with sesame seeds. Cook in oven for 35 minutes. Baste occasionally with drippings until they are clear.
Place under broiler until golden, about 5 minutes.
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