Preheat the oven to 425°F and line a sheet pan with parchment paper.
In a small bowl, whisk together the soy sauce, honey, ketchup, garlic, ginger, rice vinegar, and sesame oil.
In a large bowl, add the chicken, red bell pepper, yellow bell pepper, red onion, and pineapple. Pour the sauce over the top, drizzle with olive oil, and season with salt and pepper. Toss to coat.
Spread everything out on the sheet pan in a single layer.
Bake for 20 to 25 minutes, stirring halfway through, until chicken is cooked and pineapple caramelized.
Let rest for 5 minutes, then serve over rice and garnish with sesame seeds, green onions, and cilantro.