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In a medium saucepan, combine soy sauce, brown sugar, honey, rice vinegar, minced garlic, grated ginger, sesame oil, and water. Stir well to combine.
Place the saucepan over medium heat and bring the mixture to a simmer, stirring occasionally.
In a small bowl, mix cornstarch with a few tablespoons of water to create a slurry. Once the sauce is simmering, slowly add the cornstarch slurry while continuously stirring until the sauce thickens, about 2-3 minutes.
If desired, stir in sesame seeds for added flavor and texture.
Remove the sauce from heat and let it cool. Store in an airtight container in the refrigerator for up to two weeks.