Preheat your oven to 400°F (200°C).
In a mixing bowl, whisk together soy sauce, honey, rice vinegar, sesame oil, minced garlic, ground ginger, black pepper, and salt to create the marinade.
Place the chicken thighs in a large mixing bowl and pour half of the marinade over them. Let it marinate for at least 10 minutes.
On the prepared sheet pan, arrange the marinated chicken thighs, skin side up, spacing them out evenly.
Add the sliced bell peppers and pineapple chunks around the chicken on the pan.
Drizzle the remaining marinade over the vegetables and chicken to ensure they are well-coated.
Bake in the preheated oven for 30-35 minutes, or until the chicken is cooked through and the internal temperature reaches 165°F (74°C).
For a crispy skin, broil the chicken on high for an additional 3-5 minutes, watching closely to avoid burning.
Once cooked, remove from the oven and let it rest for a few minutes.
Garnish with sesame seeds and fresh cilantro before serving.