Preheat oven to 425ºF. Line baking sheet with foil and set aside until ready to use.
For the marinade, in a small bowl, combine the soy sauce, sesame oil, rice vinegar, honey, and ginger. Whisk until thoroughly combined.
In a large bowl, combine the chicken, red pepper, orange pepper, broccoli, carrots, onion, and garlic. Pour the marinade over the chicken mixture, season with salt and pepper, and stir to thoroughly coat chicken and vegetables.
Transfer chicken mixture to baking sheet. Bake for 12 to 14 minutes, stirring halfway through, or until chicken is thoroughly cooked. Remove pan from oven, top with sesame seeds, and serve.
Notes
Feel free to substitute the listed vegetables with whatever you may have on hand!
If time permits, marinate the chicken only for 30 minutes in the refrigerator and then toss with the vegetables before placing everything on the baking sheet.