In a small bowl, mix together the ketchup, honey, soy sauce, and garlic until combined.
Set the sauce mixture aside.
Chop up the asparagus and place in a large bowl with the broccoli and carrots.
Toss 1/4 cup sauce in with the veggies until coated.
Spray baking dish with PAM spray and pour veggies in the dish.
Place the chicken thighs on top of the veggies.
Brush the remaining sauce on the chicken with a BBQ brush until all covered. Sprinkle a little bit of sesame seeds on top.
Place in the oven for 30-40 minutes.
At 35 minutes check the chicken and if its not crunchy on top, pull off the chicken and place on a cookie sheet.
Add more sauce to the chicken.
Turn the oven to low broil, and then place the chicken back in the oven for 10-15 minutes.
Once the chicken is to your desired crispiness, take out of the oven and let cool for 5 minutes.
Serve and enjoy!