In a mixing bowl, combine the minced garlic, grated ginger, harissa paste, soy sauce, brown sugar, and sesame oil. Whisk together until the marinade is smooth and well-blended.
Place the chicken thighs in a large resealable plastic bag or a shallow dish. Pour the marinade over the chicken, ensuring that each piece is well-coated. Seal the bag or cover the dish, and let the chicken marinate in the refrigerator for at least 30 minutes, or up to 4 hours for maximum flavor.
Preheat your grill to medium-high heat. If you’re using a charcoal grill, ensure the coals are glowing and covered in ash.
Remove the chicken from the marinade and let any excess drip off. Place the chicken thighs on the preheated grill. Grill for about 6-7 minutes per side, or until the internal temperature reaches 165°F (75°C) and the chicken has nice grill marks.
During the last minute of grilling, sprinkle the toasted sesame seeds over the chicken thighs for added flavor and crunch.
Once cooked, remove the chicken thighs from the grill and let them rest for a few minutes. Garnish with chopped green onions and parsley before serving. Enjoy your Grilled Harissa Sesame Chicken Thighs with your favorite sides!