Preheat the oven to 350°F (175°C) and spray a 9x13 baking dish with nonstick spray.
Pat the chicken thighs dry with paper towels and arrange them in a single layer in the prepared baking dish, skin side up.
In a small bowl, whisk together the honey, Dijon mustard, minced garlic, olive oil, dried rosemary, kosher salt, and ground black pepper until smooth.
Brush the honey mustard mixture generously over the top of each chicken thigh, coating the skin and exposed meat.
Bake the chicken for 40 to 45 minutes, until the internal temperature reaches 165°F (74°C) and the juices run clear.
If desired, switch the oven to the broiler for the last 2 to 3 minutes to crisp the skin, watching carefully to avoid burning.
