Preheat your grill to medium-high heat.
Combine rice vinegar, honey, lemon juice, garlic, ginger, salt, pepper, and sesame oil in a bowl.
Put the chicken thighs in a shallow dish or resealable plastic bag and marinate them in the marinade.
Make sure the chicken thighs are well coated in the marinade, cover, and refrigerate for at least 1 hour (or overnight).
Once the chicken has been marinated, remove it from the marinade and let the excess marinade drip off.
Make sure that the grill grates are lightly oiled to prevent sticking.
Grill the chicken thighs, skin-side down, for 6-8 minutes per side.
For 6-8 minutes per side, grill the chicken thighs skin-side down.
Before serving, remove the chicken thighs from the grill and let them rest for a few minutes.
Garnish marinated teriyaki chicken thighs with sesame seeds and green onions.
Enjoy!