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Combine marinade ingredients and refrigerate chicken for at least 1 hour or overnight. If using wooden skewers, soak them in water for at least an hour to help prevent burning.
Cut thighs in half. Fold each half and slide onto double skewers.
Preheat grill to medium-high. Grill skewers 4–6 minutes per side. Move to indirect heat until internal temp reaches 175°F. Remove and let rest.
To a small metal bowl, add garlic, red pepper flakes, sesame seeds, and salt. Heat oil to 350°F and pour over. Let steep 10–30 minutes.
Combine the sauce ingredients with the chili crisp, coat the chicken in it, and serve.