Preheat oven to 200 degC/390 Fahrenheit. Line an oven tray or dish with baking paper (for easy clean up).
Combine honey, orange juice, orange zest, soy sauce, sesame oil, garlic and ginger in a medium-size pot or fry pan. Boil until syrupy and reduced by half, this will take about 7-10 minutes.
Heat a good drizzle of oil in a large fry pan on medium to high heat. Season chicken drumsticks with salt. Lightly brown chicken drumsticks all over, about 3 minutes.
Place chicken drumsticks in prepared tray or dish, pour over honey and orange glaze and toss to coat. Bake for 40 minutes, basting every 10-15 minutes, until chicken is cooked through and glaze is reduced and sticky. Remove from oven and sprinkle over sesame seeds.
To serve, pile chicken drumsticks up on a plate and garnish with coriander (cilantro).