In a medium bowl, mix together soy sauce, honey, minced garlic, grated ginger, rice vinegar, and sesame oil until well combined. This will be your marinade.
Place the chicken thighs or breasts in a resealable plastic bag or a flat dish, then pour the marinade over the chicken, ensuring it's well coated. Seal the bag or cover the dish and marinate in the refrigerator for at least 30 minutes, or up to 2 hours for more flavor.
Once marinated, remove chicken from the marinade and reserve the marinade. In a large skillet or pan, heat a little oil over medium-high heat.
Add the chicken to the skillet and cook for about 5-7 minutes per side, or until cooked through and golden brown. Remove the chicken from the skillet and let it rest for a couple of minutes.
In the same skillet, pour in the reserved marinade and bring it to a gentle simmer. In a small bowl, mix cornstarch and water until smooth, then add this slurry to the skillet. Stir continuously until the sauce thickens, about 2-3 minutes.
Slice the cooked chicken and return it to the skillet, tossing it in the sauce to coat well.
Serve the honey garlic teriyaki chicken over cooked rice and alongside steamed broccoli or veggies of your choice. Garnish with sesame seeds and chopped green onions.