Prep the chicken: Pat the drumsticks dry with paper towels. Dry skin means better browning and crisping.
Make the marinade: In a bowl, whisk together honey, sriracha, soy sauce, rice vinegar, lime juice, garlic, ginger, oil, salt, and pepper.
Marinate: Add chicken to a large zip-top bag or bowl.
Pour in two-thirds of the marinade. Reserve the remaining third for glazing. Marinate for at least 30 minutes or up to 8 hours in the fridge.
Preheat the grill: Heat to medium (about 375–400°F).
Clean and oil the grates to prevent sticking.
Grill over indirect heat: Arrange the chicken on the cooler side of the grill. Cover and cook for 15–18 minutes, turning once, until the internal temperature hits about 150°F.
Move to direct heat and glaze: Shift the chicken to the hotter side. Brush with the reserved marinade and grill 2–3 minutes per side, basting and turning until caramelized and the internal temperature reaches 175–180°F for juicy, tender legs.
Rest and garnish: Let the chicken rest 5 minutes.
Sprinkle with sesame seeds and cilantro, and serve with lime wedges.