Henderson hauled down 10 rebounds and Sessions dished out seven assists as the Bobcats took their second win in three contests.
Byron Mullens helped out with 20 points and 12 boards for Charlotte.
The Magic, meanwhile, lost for the 14th time in 15 games despite a double-double of 18 points and 11 rebounds from Nikola Vucevic.
Arron Afflalo (18 points), Maurice Harkless (15, six rebounds) and Andrew Nicholson (13, 12) also reached double figures in the loss.
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