Whisk the vinegar, soy sauce, honey, brown sugar, sesame oil, garlic and ginger together in a small saucepan over medium heat. Bring to a rolling boil; reduce heat to low and allow to simmer for about 5 minutes while stirring occasionally until sauce thickens. Take off heat and allow to cool slightly. Place chicken thighs into an oven proof pan/skillet or baking dish. Pour 2/3 of the sauce mixture over the chicken, rotating each thigh until evenly covered. Rotate the chicken to be skin side down, and bake for 30 minutes. Turn thighs and continue to bake until beginning to brown on the skin (about another 15 minutes). At this point, start steaming your bok choy (or any other vegetable), to your desired texture (crunchy, soft, etc).