Step 1: Make the Yakitori Sauce

1. In a small saucepan, mix soy sauce, water, brown sugar, garlic, ginger, honey, toasted sesame oil, and rice vinegar.
2. Cook over medium heat, stirring occasionally, until the mixture comes to a gentle simmer.
3. In a separate bowl, whisk the cornstarch with 2 tablespoons of water to form a slurry. Gradually add this to the saucepan while stirring continuously.
4. Let the sauce cook for another 2–3 minutes until it thickens. Remove from heat and set aside.

Step 2: Prepare the Chicken

1. Cut the chicken thighs into small, uniform pieces (about 1-inch cubes) for even cooking.
2. Lightly season the chicken pieces with salt and pepper.

Step 3: Assemble the Skewers

1. If using wooden skewers, soak them in water for at least 30 minutes to prevent burning.
2. Thread the chicken pieces onto the skewers, leaving a small gap between each piece for proper heat circulation.

Step 4: Cook the Yakitori

1. Grill Method:
   • Preheat your grill to medium-high heat and lightly oil the grates.
   • Brush the skewers with vegetable oil and place them on the grill.
   • Cook for 3–4 minutes per side, basting with the prepared sauce during the last few minutes of grilling, until the chicken is cooked through and caramelized.
2. Broil Method:
   • Preheat your oven’s broiler.
   • Line a baking sheet with aluminum foil and arrange the skewers on the sheet.
   • Brush with vegetable oil and broil for 4–5 minutes on each side, basting with the sauce during the last few minutes. Keep a close watch to prevent burning.

Step 5: Garnish and Serve

1. Transfer the cooked yakitori to a serving plate.
2. Sprinkle with sesame seeds and green onions for garnish.
3. Serve immediately with any extra sauce on the side for dipping.