In a Ziploc bag, combine the orange juice concentrate, honey, soy sauce, hoisin sauce, ginger, garlic and sesame oil. Mix well. Place the chicken in the bag and coat it well with the sauce. Pour the chicken and sauce in the Crockpot. Cover and cook on low for six to seven hours or four on high.Remove the chicken. Strain the sauce (or just pour it in) into a saucepan. In a small dish, stir the cornstarch and cold water. Pour into the sauce and bring the mixture to a boil, stirring until thickened, about one to two minutes. Pour the sauce over the chicken and serve with rice.