Pat dry drumsticks thoroughly, and use a fork to poke holes in chicken on all sides. Lay drumsticks in a baking pan so they are not crowded (may need to use 2 pans). Sprinkle salt and pepper evenly over drumsticks.
Whisk together rice vinegar, honey, and soy sauce to create marinade. You can now add sauce to a zip lock bag with drumsticks and let marinate in the refrigerator for at least 30 minutes (I recommend 2 hours), or add marinade to the baking pan with chicken and let sit at room temperature for an hour rotating once in between.
When chicken is almost done marinating, preheat oven to 350 degrees.
If you haven’t already, add chicken and sauce to baking dish. Using tin foil, tightly wrap your baking dishes and bake for 45 minutes. Remove from oven, uncover pans, and bake for an additional 20 minutes, rotating once so each side has a chance to brown.
Serve warm over a bed of white rice, topping with sauce from the pan.