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Peel the garlic cloves and create a puree - using a garlic press or small blender - along with soy sauce, balsamic vinegar and honey. Season with pepper and salt and add the marinade to the chicken legs.
Make sure they're completely coated on all sides and refrigerate them for at least an hour. Turn the chicken legs half way through.
Heat a dash of olive oil in a skillet and cook the chicken legs a few minutes on each side, until they're beautiful golden brown. Add the marinade and a small layer of water and place the lid on.
Let the chicken legs simmer for about 15 minutes, always check if the chicken is completely done before serving. Serve with rice and green beans, enjoy!