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Cut pineapple in half, lengthwise. Use a spoon to scoop out the flesh of each half, leaving about a half-inch on the sides to make sure the pineapple boats are sturdy. Discard the flesh or set it aside to eat later, and drain any juices.
Heat the oil in a large skillet over high heat. Add the chicken thighs and cook, stirring occasionally, 2 minutes. Add soy sauce, brown sugar, and honey, and stir to combine. Bring the mixture to a boil, then turn the heat down to medium-low and cook, stirring occasionally, until the sauce is thick and the chicken is cooked through, 8 to 12 minutes. Add the sesame seeds and stir to combine, then remove the pan from the heat.
Scoop a cup of rice into each of the pineapple boats, then divide the teriyaki chicken among the boats and serve.