Preheat the oven. Set your oven to 375°F and position a rack in the center. Line a baking dish or rimmed baking sheet with parchment paper or lightly oil it.
Make the honey mustard glaze. In a medium bowl, whisk together honey, Dijon mustard, minced garlic, olive oil, rosemary, thyme, salt, and pepper until well combined.
Prep the chicken. Pat chicken thighs dry with paper towels. This helps the skin get crispy. Arrange them skin-side up in the prepared baking dish.
Coat the chicken. Pour the honey mustard glaze over the chicken thighs, making sure each piece is well coated. Use a brush or spoon to spread it evenly, especially over the skin.
Bake. Place the baking dish in the preheated oven and bake for 40-45 minutes, basting with the pan juices halfway through, until the chicken reaches an internal temperature of 165°F and the skin is golden and crispy.
Broil for extra crispiness (optional). If you want even crispier skin, turn the broiler on high for the last 2-3 minutes. Watch carefully to prevent burning.
Rest and serve. Let the chicken rest for 5 minutes before serving. Spoon the pan sauce over the top and garnish with fresh parsley if desired.