Add the mustard, honey, red wine vinegar, olive oil and pressed garlic to a small bowl. Whisk until all the ingredients are well combined. Set aside.
Rub chicken thighs with salt and pepper and place into a large bowl. Pour the sauce all of the chicken and toss to ensure even coverage. Bake immediately or refrigerate for at least a few hours or overnight and up to 24 hours for best results.
Transfer the chicken and all of the sauce into a baking dish, placing the chicken pieces skin side up.
Bake uncovered at 450F for 30 minutes, or until the internal temperature reaches 185F. To make sure the chicken tops are nicely browned and do not dry out, baste the chicken thighs in the juices and marinade about 15-20 minutes into baking. For better browning, turn on the broiler on high for 2-3 minutes just before the chicken is done cooking.
Remove the chicken from the oven and transfer to a serving platter. Let rest for 5 minutes and serve with pan juices poured over the chicken (and the side dish if desired).
1 - for chicken drumsticks, the same amounts of ingredients and cooking instructions apply.2 - if using whole chicken legs, substitute chicken thighs for 3-4 chicken legs and follow the same instructions.3 - if using skin-on, bone-in chicken breasts, substitute chicken thighs for 3-4 chicken breasts. Bake at 375F for 35-40 minutes or until the chicken breasts have reached 160F internal temperature. Remove from the baking dish and let rest 5 minutes prior to serving.4 - if using skinless chicken thighs, follow the same instructions but reduce baking time to about 20-25 minutes, depending on the size of the thighs.5 - if using skinless, boneless chicken breasts, use 4 chicken breasts and bake at 325F-350F for about 45-60 minutes, or until the internal temperature reaches 160F, basting chicken breasts with pan sauce once or twice during baking.