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Place drumsticks in a 6.5-quart, or larger, slow cooker; set aside.
In a mixing bowl, whisk together honey, soy sauce, balsamic vinegar, brown sugar, minced garlic, sriracha and ground ginger.
Pour soy sauce mixture over the chicken drumsticks and gently toss to coat.
Cover and cook on LOW for 4 hours, or on HIGH for 2 to 3 hours. Chicken is cooked through when internal temperature register at 165˚F.
If you’d like to thicken the sauce, make a slurry about 15 minutes before the chicken is done: in a small bowl or cup, whisk together water and cornstarch.
Remove cover from slow cooker and stir the slurry into the sauce; recover and cook on HIGH heat for 10 to 12 more minutes, or until sauce has thickened.
Serve drumsticks with sauce and top with sesame seeds and cilantro.