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Whisk together the balsamic vinegar, 2 tablespoons of the olive oil, maple syrup, garlic, salt and pepper in a small bowl.
Place the chicken thighs in a glass dish or plastic bag and pour the marinade on top. Place in the refrigerator and marinate for 2 hours.
Preheat the oven to 400 degrees fahrenheit.
Slice the brussels sprouts in half and the red onion into wedges. Place the brussels sprouts and onion on a large baking sheet and drizzle with two tablespoon of olive oil and sprinkle with salt and pepper. Mix together to coat, then create spaces for the chicken.
Remove the chicken from the marinade and place on the sheet pan. Cook for 30 minutes or until the chicken is cooked through.
While the chicken is cooking, pour the remaining marinade into a small saucepan on medium heat. Simmer for 8-10 minutes or until the sauce is reduced and thickened. Open the oven, brush the glaze on the chicken and continue cooking.
Once the chicken is fully cooked, serve immediately.