Cover a baking sheet with foil and spray with nonstick cooking spray.
Arrange chicken, broccoli, carrots and peas in an even layer on baking sheet. Season with salt and pepper, to taste.
In a saucepan over medium heat, whisk together soy sauce, honey, rice wine vinegar, sesame oil, minced garlic, ginger, cornstarch and water. Bring to a boil and reduce heat to low and let simmer for a few minutes, stirring constantly, until sauce thickens.
Spoon teriyaki sauce over chicken and drizzle remaining sauce over vegetables.
Bake for 30-35 minutes, or until chicken is cooked through and vegetables are soft.
Garnish with sesame seeds before serving, if desired.
Notes
You can use store bought teriyaki sauce but this homemade teriyaki sauce is made with just a few ingredients that you probably have on hand. I also love that it is sweetened with honey rather than sugar.