Pat the chicken thighs dry with paper towels and set aside.
In a mixing bowl, whisk together the soy sauce, honey, chopped garlic, and chopped ginger until combined.
Add the chicken thighs to the marinade and toss to coat evenly; let sit for at least 5 minutes while you preheat the skillet.
Heat a skillet over medium-high heat. Add the marinated chicken thighs and sear for about 7 minutes on one side.
Flip the thighs and cook for another 7 minutes, or until cooked through and juices run clear; transfer to a plate and let rest for 5 minutes.
While the chicken rests, bring a pot of salted water to a boil or set up a steamer and steam the pak choi for about 2 minutes, until tender but still bright.
Serve the chicken with the steamed pak choi and cooked rice if using, and sprinkle with toasted white sesame seeds and a pinch of black pepper.