Preheat the oven to 375°F. Cook noodles, rice or mashed potatoes to serve with (this is an optional step).
Lightly grease a large casserole dish with non-stick cooking spray. Add the chicken legs. Drizzle with cooking oil and season with salt and pepper. Toss everything together.Cover with foil and bake for 30 minutes.
Add tomato sauce, brown sugar, white vinegar, Worcestershire sauce to a medium bowl. Mix together.
Pour the sauce on top of the chicken and toss together. Bake for another 20-30 minutes, or until chicken is fully cooked and reaches 165°F when poked with a meat thermometer.
Serve the chicken legs with egg noodles, other pasta noodles, mashed potatoes or rice.