Combine soy sauce, honey, rice vinegar, minced garlic, grated ginger, and sesame oil in a bowl. Whisk until the mixture is smooth and glossy.

Put the chicken thighs in a shallow dish or a zip-top bag. Pour half the sauce over the chicken and turn to coat. Reserve the other half of the sauce for finishing. Marinate at least 30 minutes in the fridge.

Heat a large skillet over medium heat until hot. Add a small drizzle of oil if your pan is not nonstick. Sear the marinated chicken thighs 5 to 7 minutes per side. Use an instant-read thermometer to confirm the internal temperature reaches 165°F. Transfer chicken to a cutting board and let it rest 5 minutes before slicing.

In the same skillet, add the broccoli florets, sliced red bell pepper, and shredded carrot. Stir-fry for 3 to 5 minutes until vegetables are bright and just tender.

Pour in the reserved sauce and cook for 1 to 2 minutes, stirring, until it slightly thickens and coats the veggies. If the sauce needs more thickening, simmer a little longer or add a tiny slurry of cornstarch and water.

Divide the cooked brown rice or quinoa between bowls. Top each bowl with sliced chicken and the saucy vegetables.

Sprinkle sliced green onion and sesame seeds over the top. Serve immediately while warm.