Whisk the soy sauce, black bean garlic sauce, peanut butter, lime juice, sesame oil, grated ginger, sriracha, sugar, cilantro stems, and water in a large bowl. Add the drumsticks and coat them evenly in the marinade.
Transfer marinade and drumsticks to a large Ziplock bag, removing as much air as possible. Place bag flat in a small baking dish or baking sheet and marinate for 24 hours.
Remove the drumsticks from the fridge, and allow to them to rest at room temperature for at least 20 minutes. Preheat the oven to 375°F (190°C) with a rack in the center position. Place the chicken drumsticks along with the marinade in a medium oven-proof baking dish or half sheet pan lined with aluminum foil.
Bake for roughly 30 to 40 minutes, turning the drumsticks every 10 or 15 minutes, or until the internal temperature reads 165°F (74°C). Allow to rest for 10 to 15 minutes.
Sprinkle the drumsticks with toasted sesame seeds. Serve the drumsticks with crushed peanuts, fresh cilantro, fresh lime, and sliced green onions as desired.