Heat oven to 400F degrees F. Line a baking dish with aluminum foil (optional); set aside.
Layer the chicken legs on the baking dish. In a small bowl combine the garlic, honey, soy, and vinegar. Whisk until fully combined. Pour mixture onto chicken legs, coating evenly.
Bake 40-45 minutes or until skin is crisp and caramelized and chicken is cooked through.
For dark crispy skin: Place chicken under the broiler for 3-5 minutes or until desired crispness.