Preheat the oven to 350°F (177°C). Place the chicken thighs in a baking dish and pat them dry with a paper towel.
In a small bowl, combine the honey, Dijon mustard, minced garlic, olive oil, rosemary, thyme, salt, and black pepper.
Stir until the mixture is smooth and evenly combined.
Brush or spoon the honey mustard sauce generously over the chicken thighs, making sure the tops are well coated.
Bake for 40 to 45 minutes, or until the chicken is fully cooked and reaches your preferred safe internal temperature. For especially tender chicken thighs, the recipe is designed around an internal temperature of about 175°F (80°C).
During the final 2 to 3 minutes, turn on the oven broiler to crisp and caramelize the chicken skin. Watch closely so the honey glaze does not burn.
Let the chicken rest for a few minutes before serving. Spoon any flavorful pan juices over the chicken for extra flavor.