Preheat your oven to 425°F (220°C) and line a large baking sheet with parchment paper.
In a mixing bowl, whisk together the soy sauce, honey, rice vinegar, minced garlic, grated ginger, sesame oil, and cornstarch until well combined. This will be your teriyaki sauce.
Place the chicken thighs on the prepared baking sheet and pour half of the teriyaki sauce over the chicken, ensuring they are well coated.
Arrange the broccoli, bell peppers, snap peas, and carrot slices around the chicken on the baking sheet. Drizzle the remaining teriyaki sauce over the vegetables.
Toss the vegetables gently to coat them evenly with the sauce.
Bake in the preheated oven for 25-30 minutes or until the chicken is fully cooked and has reached an internal temperature of 165°F (75°C), and the vegetables are tender-crisp.
Remove the baking sheet from the oven and let it rest for a few minutes.
Serve the teriyaki chicken and vegetables hot, garnished with sesame seeds and chopped green onions.
Notes
Feel free to substitute vegetables based on your preference.