Step 1

If marinating the chicken in a large zip-top bag, make the marinade in a small bowl. Otherwise, make the marinade in a large bowl. Mince 2 garlic cloves and place in the bowl. Add 1/3 cup white miso paste, 1/4 cup maple syrup, 2 tablespoons soy sauce, 1 tablespoon rice vinegar, 1 tablespoon vegetable oil, and 1 teaspoon toasted sesame oil. Whisk to combine.

Step 2

Pat 3 pounds chicken thighs or drumsticks dry with paper towels. Season all over with 1 1/2 teaspoons kosher salt. Add to the large bowl of marinade and toss until the chicken is coated, or place in a large zip-top bag, pour the marinade over the chicken, and toss to coat. Try to rub some of the marinade under the skin as you toss. Cover the bowl or seal the bag. Let marinate in the refrigerator for at least 2 hours or up to overnight, turning the bag or stirring in the bowl once if you can.

Step 3

Arrange a rack in the middle of the oven and heat the oven to 400ºF. Meanwhile, let the chicken sit out at room temperature. Line a rimmed baking sheet with aluminum foil and coat with cooking spray.

Step 4

Take the chicken out of the marinade, letting the excess marinade drip off, and place on the baking sheet in an even layer skin-side up. Roast for 25 minutes. Rotate the baking sheet and roast until the chicken is browned, cooked through, and an instant-read thermometer inserted into the thickest piece not touching bone registers at least 165ºF, 10 to 20 minutes more. Garnish with white sesame seeds and serve with steamed rice if desired.