Combine the balsamic, honey, sugar, soy sauce, rosemary and garlic in a large resealable plastic bag. shake and squeeze the contents of the bag to dissolve the honey and brown sugar. add the chicken to the bag and seal with a little air as possible in the bag. Place in the refrigerator and marinate for 2 hours.
Preheat the oven 450 degrees F.
Place the chicken on a foil lined baking sheet. Bake until the skin is caramelized and about 30 to 35 minutes.
Place the marinade in a small saucepan. Bring to boil in order to kill bacteria. Reduce the heat to simmer and cook over low heat until thick about 15 minutes. Reserve.
Brush some of the cooked marinade on the cooked chicken. place chicken on serving platter and sprinkle with sesame seeds and chopped parsley.