Creating Hawaiian Huli Huli Chicken is easy if you follow these simple steps:

1. Prepare Marinade: In a bowl, whisk together soy sauce, brown sugar, pineapple juice, ketchup, vegetable oil, minced ginger, garlic, rice vinegar, and black pepper until well combined.
2. Marinate Chicken: Place the chicken thighs in a resealable plastic bag or shallow dish. Pour the marinade over the chicken, ensuring all pieces are coated. Seal the bag or cover the dish, and refrigerate for at least 1 hour or overnight for maximum flavor.
3. Preheat Grill: Preheat your grill to medium-high heat.
4. Remove Chicken: Take the chicken out of the marinade and let any excess drip off.
5. Grill Chicken: Place the chicken on the grill. Cook for about 6-8 minutes on each side, or until the internal temperature reaches 165°F (75°C) and the chicken is cooked through.
6. Baste (Optional): Feel free to brush the chicken with leftover marinade during the last few minutes of grilling for extra flavor.
7. Rest Chicken: Remove the chicken from the grill and let it rest for 5 minutes before slicing.
8. Garnish: Sprinkle chopped green onions and sesame seeds (if using) over the top before serving.

These straightforward steps will guide you in creating this incredible dish with ease.