Mix the marinade: Whisk together pineapple juice, soy sauce, brown sugar, ketchup, garlic, ginger, rice vinegar, and sesame oil until smooth. Reserve 1 cup for glazing.
Marinate the chicken: Add chicken to the remaining marinade, cover, and refrigerate for at least 1 hour, preferably 4–8 hours or overnight.
Prepare to cook: Preheat the grill, oven, or skillet. Use medium to medium-high heat to caramelize the chicken without burning the sugars.
Cook the chicken: Grill, bake, or pan-cook until the chicken reaches 165°F and has golden, lightly charred edges.
Glaze the chicken: Simmer the reserved marinade for 5–7 minutes until slightly thickened, then brush it over the chicken during the final minutes of cooking.
Rest and serve: Let the chicken rest for 5 minutes before serving. Garnish with green onions, sesame seeds, grilled pineapple, or lime if desired.
