Season the chicken. Season the chicken thighs generously with salt and pepper.
Sear the chicken thighs. Heat olive oil in a large skillet over medium-high heat. Add the chicken thighs and cook until golden brown on both sides, about 4-5 minutes per side. Remove the chicken from the skillet and set aside.
Create the sauce. In the same skillet, mix the honey, Dijon mustard, soy sauce, minced garlic, and lemon juice. Stir well to combine and bring the sauce to a simmer.
Finish cooking. Return the chicken to the skillet, coating each piece in the honey mustard sauce. Cover and simmer over low heat until the chicken is cooked through, about 10-15 minutes.
Garnish, serve, and enjoy! Garnish with fresh herbs before serving.