Preheat your oven to 375°F and position the rack to the middle level. Line a large baking dish with parchment paper or lightly oil it to prevent sticking, then arrange your chicken pieces skin-side up in a single layer.
In a medium bowl, whisk together the honey, soy sauce, olive oil, minced garlic, Dijon mustard, and apple cider vinegar until completely combined. Stir in the paprika, black pepper, salt, and dried thyme, creating a smooth, cohesive glaze with no lumps.
Pour the honey marinade evenly over the chicken pieces, making sure each one gets thoroughly coated on all sides. Distribute the sliced lemon and onion around the chicken, and scatter fresh rosemary over the top for maximum aromatic flavor.
Pour the chicken broth into the bottom of the baking dish—this creates steam that keeps the cozy honey baked chicken recipe incredibly tender and moist. Bake uncovered for 35-40 minutes, until the internal temperature reaches 165°F at the thickest part of the thigh.
During the final 10 minutes of baking, increase the oven temperature to 400°F to caramelize the glaze and deepen its golden color. The honey should bubble gently around the edges and coat the chicken in a shiny, deeply browned finish.
Remove from the oven and let it rest for 5 minutes before serving—this allows the juices to redistribute throughout the soft chicken pieces. Spoon the pan drippings over each portion to capture all that liquid gold flavor you've created.