Preheat your oven to 400°F. Line a large baking sheet with parchment paper for easy cleanup.
In a large bowl, combine soy sauce, honey, olive oil, minced garlic, ground ginger, black pepper, and salt. Whisk until well mixed.
Add the chicken thighs to the bowl and toss to coat them evenly in the marinade. Let them marinate for at least 15 minutes while you prepare the vegetables.
On the prepared baking sheet, arrange the marinated chicken thighs in the center. Surround them with the sliced bell peppers, red onion, and pineapple chunks.
Drizzle any remaining marinade over the vegetables.
Bake in the preheated oven for 25-30 minutes, or until the chicken is cooked through and reaches an internal temperature of 165°F.
If desired, broil for an additional 2-3 minutes to get a nice caramelization on the chicken and vegetables.
Remove from the oven, sprinkle with sesame seeds and garnish with fresh cilantro before serving.