Check your oven to make sure there's a rack positioned 4-5 inches from the top, then preheat oven to broil. Line a baking sheet with aluminum foil.
Place drumsticks on prepared baking sheet and season with salt and pepper, then place baking sheet on top oven rack. Broil drumsticks for 12 minutes, turning half way through. Drumsticks will be a light golden color when ready.
While drumsticks cook, whisk together BBQ sauce, cranberry sauce, orange marmalade, quick-cooking tapioca, and mustard in a medium bowl.
Add drumsticks to a 6 quart crock pot and pour cranberry BBQ sauce on top. Gently toss drumsticks to coat.
Cover and cook on low for 4-5 hours.
Serve immediately with sesame seeds as garnish (optional).
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