Preheat the oven to 400°F (200°C) or preheat the grill to medium-high heat.
Cut four large sheets of heavy-duty aluminum foil.
In a large bowl, combine the chicken, pineapple, bell peppers, onion, zucchini, and broccoli.
Add the teriyaki sauce, olive oil, garlic, ginger, salt, and black pepper.
Toss until everything is evenly coated.
Divide the mixture evenly among the foil sheets.
Fold and seal each packet tightly to lock in the steam.
Bake for 22–25 minutes or grill for 20–25 minutes until the chicken reaches an internal temperature of 165°F (74°C).
Carefully open the packets to avoid hot steam.
Sprinkle with sesame seeds and chopped green onions.
Serve immediately over cooked rice if desired.