
Preheat the oven to 350°F (180°C). Line a baking dish with foil and parchment paper for easier cleanup.
In a medium bowl, whisk together the balsamic vinegar, soy sauce, honey, brown sugar, and minced garlic until the sugar is mostly dissolved.
Arrange the chicken pieces in the prepared baking dish in a snug single layer. If using skin-on thighs or wings, place them skin-side down first.
Pour the balsamic sauce evenly over the chicken. Bake for 30 minutes.
Turn the chicken over and spoon some of the pan sauce on top. Return to the oven and bake for 20 minutes more, or until the chicken is cooked through and the sauce has thickened.
Let the chicken rest for 5 minutes before serving. Spoon the reduced balsamic sauce over the top and serve warm.