Soak bamboo skewers in a shallow pan filled with warm water. Let soak for 30 minutes.
In a large mixing bowl add the brown sugar, soy sauce, rice wine vinegar, honey, garlic, ginger and pepper. Mix well. Reserve half of this mixture and move it to a separate bowl. Add the chicken, veggies and pineapple to the large bowl and stir well to coat. Let marinate for 30 minutes or overnight.
Preheat grill on medium high heat.
Thread chicken, bell peppers, pineapple, onion and another piece of chicken onto the skewer. Repeat until all ingredients are used.
Cook on medium high heat for 15 minutes (rotating frequently so that they are cooked evenly). Baste the kabobs with the reserved sauce right before serving and top with the sesame seeds.