Combine the soy sauce, pineapple juice, brown sugar, honey, rice wine vinegar, and minced garlic in a small bowl, and whisk them together.
Remove 1/2 cup of the sauce, and set it aside in a bowl in the fridge for later.
Add the chicken, bell peppers, onions, and zucchini to a large bowl, or ziptop bag and pour the remaining sauce over the top. Seal the bag or bowl and place it in the refrigerator and allow the chicken and veggies to marinate for 1-4 hours.
Soak wooden skewers in cold water for 30 minutes, or use metal skewers.
Preheat the grill to medium high heat, about 400 F.
Add the reserved sauce to a small sauce pan. In another small bowl, whisk together 1 TBS cornstarch and cold water to make a slurry. Slowly whisk the mixture into the sauce.
Bring the sauce to boil over medium heat, stirring often until the mixture starts to thicken, about 1-3 minutes. Remove from the heat and let it cool slightly until needed.
Thread the chicken, and vegetables, and pineapple, onto the prepared skewers, alternating them as you go.
Cook the kabobs for about 4 to 5 minutes on each side, until the chicken is cooked through. (It needs to reach an internal temperature of 165 F)
Cook kebabs for about 15 minutes on the grill, rotating every few minutes.
Remove kabobs from the grill and brush with sticky teriyaki sauce.
Serve over cooked white or brown rice if desired.