In a medium bowl, whisk together soy sauce, honey, rice vinegar, sesame oil, minced garlic, and ginger. Reserve a few tablespoons for basting later. Add the chicken cubes to the marinade, ensuring they're well-coated. Cover and refrigerate for at least 30 minutes or up to 2 hours for deeper flavor.
If using wooden skewers, soak them in water for 30 minutes to prevent burning. If using metal skewers, you can skip this step.
After marinating, thread the chicken, pineapple, and bell pepper pieces alternately onto the skewers, packing them in tightly for an appealing presentation.
Preheat a grill or grill pan over medium-high heat. Place skewers on the grill and cook for about 10-15 minutes, turning occasionally and basting with reserved marinade until the chicken is cooked through and has nice grill marks. If you like a thicker glaze, you can dissolve cornstarch in a little water and add it to the reserved marinade in the last few minutes of cooking.
Once cooked, remove skewers from the grill and let them rest for a couple of minutes. Serve warm, with a sprinkle of sesame seeds and chopped green onions for garnish if desired.
Notes
For a thicker sauce, dissolve cornstarch in water and add to the marinade during the last few minutes of cooking.