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In a bowl, combine together soy sauce, mirin, sesame oil, honey, garlic, ginger, pepper, salt and cornstarch. Whisk until smooth.
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Season chicken with salt and pepper.
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Heat a large non-stick pan over medium-high heat. Pan-fry the chicken thigh until both sides are nicely browned and almost cooked through, about 5-10 minutes.
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Add the sauce over chicken and continuously flip the chicken to keep basting it with the teriyaki sauce.
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Simmer and continue to cook and toss until sauce has thickened, about 30 - 60 seconds longer.
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Serve over white rice with steamed broccoli or bokchoy. Garnished with sesame seeds if desired.