Preheat oven to 425°F. Pat chicken completely dry with paper towels.
Mix garlic powder, onion powder, smoked paprika, salt, pepper, and cayenne in a bowl.
Rub olive oil over chicken, then coat evenly with spice mixture.
Let chicken rest at room temperature 10 minutes.
Combine BBQ sauce, honey, vinegar, soy sauce, Worcestershire, and garlic powder in a saucepan over medium-low heat.
Simmer glaze 3 to 4 minutes until slightly thickened, then remove from heat.
Arrange chicken skin-side up in baking dish.
Brush first coat of honey BBQ glaze over each thigh.
Roast 25 minutes until skin begins to turn golden.
Remove from oven, brush on second thick coat of glaze.
Return to oven for 10 more minutes until glaze is caramelized and sticky.
Check internal temperature — 165°F minimum, 175°F ideal.
Rest uncovered 5 minutes before serving.
Spoon pan drippings over chicken, garnish with parsley, green onions, and sesame seeds.
Serve immediately with lemon wedges if desired.