Make 3 crosswise slashes down to the bone on the meaty part of each drumstick. Put the chicken in a large shallow baking dish.
In a bowl, mix the salt, pepper, five-spice powder, garlic and cilantro. Add the sesame oil; stir into a paste. Rub the paste in the slashes in the chicken and spread any remaining paste over the skin. Cover and refrigerate for 2 hours.
Light a grill. Lightly oil the grate. Grill the chicken over a medium-hot fire, turning occasionally, for about 35 minutes, or until just cooked through. Brush the drumsticks with the honey and grill until golden brown, about 1 minute per side. Serve hot.
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