For the marinade, mix the soy sauce, balsamic vinegar and olive oil with honey and 2 tablespoons of warm water. Peel and squeeze the garlic. Mix in the rosemary, salt, paprika and chili powder. Drizzle the marinade over the chicken legs and leave to stand, covered, overnight (at least 8 hours).
Then preheat the oven to 200 ° C top / bottom heat. Spread the marinated chicken legs on a baking sheet and bake in the oven on the middle rack for about 35 minutes until crispy. Brush with the marinade from time to time.