Honey-Balsamic Chicken

Whisk balsamic vinegar, olive oil, honey, thyme, and rosemary together in a bowl until smooth; pour into a resealable plastic bag.

Season chicken thighs with salt and black pepper. Add to balsamic marinade, toss to coat, squeeze out excess air, and seal the bag. Marinate in the refrigerator for 2 to 8 hours.

Preheat the oven to 375 degrees F (190 degrees C).

Transfer chicken and marinade to a baking dish.

Bake in the preheated oven until no longer pink at the bone and juices run clear, 35 to 40 minutes. An instant-read thermometer inserted near but not touching the bone should read 165 degrees F (74 degrees C).