Heat oven to 425° F. Combine the vinegar, soy sauce, rosemary, honey, and ½ teaspoon pepper in a 9-by-13-inch or another shallow 3-quart baking dish. Add the chicken, turn to coat, and place skin-side down.
Toss the shallots with the oil in a medium bowl and arrange on top of the chicken.
Roast the chicken for 30 minutes. Turn the pieces skin-side up and continue to roast, basting occasionally, until the shallots are tender, the chicken is glazed, and a thermometer inserted in the thickest part of a thigh registers 165° F, 15 to 20 minutes more. (Tent the dish loosely with foil if the chicken browns too quickly.)