Preheat oven to 180°C.
In a small bowl, combine garlic, honey, soy, mustard and sesame seeds. Add the drumsticks, tossing until well coated with the marinade. Leave for at least 30 minutes, turning once.
Place a sheet of baking paper in an ovenproof dish. Spread the drumsticks out evenly. Place in the centre of the oven and bake for 20 minutes. Turn the drumsticks over and continue to cook for 10 minutes or until cooked through. Baste with any extra marinade.
Remove from oven. Brush with a little extra honey and add a sprinkle of toasted sesame seeds to serve.