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Whisk the soy sauce, cilantro, ginger, sesame oil, rice vinegar, and garlic in a small bowl to make a teriyaki sauce
In a medium saucepan, over medium-high heat, saute the broccoli in 1 tbsp olive oil until browned, about 5-7 minutes
When the broccoli has browned, remove and set aside, covering to keep warm
Add the remaining 1 tbsp of olive oil to the pan and saute the chicken until cooked through
Reduce the heat to medium and add the broccoli and teriyaki sauce to the pan
Gently add in the udon noodles until covered with sauce, stirring until they are soft
Serve warm