Marinate the chicken by whisking together honey, soy sauce, apple cider vinegar, minced garlic, ground ginger, and black pepper in a large bowl. Add chicken thighs and coat well. Cover and refrigerate for at least 30 minutes, up to 2 hours.
Prepare the honey garlic sauce by heating the reserved marinade in a small saucepan over medium heat until it simmers and thickens slightly. Set aside.
Heat vegetable oil in a large skillet over medium-high heat. Add marinated chicken thighs and cook for 5-7 minutes on each side until golden brown and cooked through (internal temperature should reach 165°F).
Glaze the chicken with the honey garlic sauce by pouring it into the skillet and simmering for an additional 2-3 minutes.
Let the chicken rest for a few minutes before slicing. Serve with the thickened sauce drizzled over the top.