In a large mixing bowl, whisk together 1/4 cup of low-sodium soy sauce, 3 tablespoons of brown sugar, 2 tablespoons of sesame oil, and 2 tablespoons of rice vinegar until well combined. Add in 4 minced garlic cloves, 1 tablespoon of freshly grated ginger, 1 tablespoon of gochujang, 1 tablespoon of honey, 1 teaspoon of freshly ground black pepper, and 2 finely chopped green onions.

Cut 2 pounds of boneless skinless chicken thighs into 1.5-inch pieces and add them to the marinade, ensuring each piece is thoroughly coated. Cover the bowl with plastic wrap and refrigerate for at least 2 hours.

Prepare your grill for cooking by preheating it to medium-high heat, roughly 400°F to 450°F.

While the grill is heating, take the soaked bamboo skewers and begin threading 4-5 marinated chicken pieces onto each skewer.

Once the grill is hot, place the assembled skewers carefully onto the grill grates. Cook for about 5-6 minutes per side until the chicken reaches an internal temperature of 165°F.

After grilling, remove the skewers from the grill and let them rest for a minute. For presentation, sprinkle additional toasted sesame seeds and remaining chopped green onions on top. Serve hot.