In a large bowl or measuring cup, whisk together pineapple juice, soy sauce, brown sugar, ketchup, chicken broth, ginger, garlic, rice vinegar, Worcestershire sauce, and sesame oil until sugar is mostly dissolved.

Place chicken in a large zip-top bag or container. Pour half of the marinade over the chicken, seal, and refrigerate for at least 2 hours or up to overnight. Reserve the other half of the marinade for basting.

Pour the reserved marinade into a small saucepan. Bring to a boil, then reduce heat and simmer for 15–20 minutes until thickened into a glaze.

Preheat the grill to medium heat. Remove chicken from the marinade and season lightly with salt and pepper. Grill for 5–6 minutes per side, brushing with thickened glaze during the last few minutes, until internal temperature reaches 165°F.

Let chicken rest for 5 minutes before slicing. Serve hot with extra sauce drizzled on top.