Creating Baked Huli Huli Chicken is simple if you follow these steps:

1. Prepare the Marinade: In a bowl, whisk together the soy sauce, pineapple juice, brown sugar, rice vinegar, vegetable oil, garlic, ginger, sesame oil, and black pepper.
2. Marinate the Chicken: Place the chicken thighs in a resealable plastic bag or a shallow dish. Pour the marinade over the chicken, ensuring all pieces are coated well. Seal the bag or cover the dish and refrigerate for at least 30 minutes.
3. Preheat the Oven: Preheat your oven to 400°F (200°C).
4. Arrange Chicken: Remove the chicken from the marinade, shaking off excess. Arrange the thighs skin-side up on a baking sheet lined with parchment paper or foil.
5. Bake the Chicken: Place the baking sheet in the preheated oven. Bake for about 25-30 minutes or until the chicken is cooked through and reaches an internal temperature of 165°F (75°C).
6. Baste with Marinade: While baking, baste the chicken with the reserved marinade twice for enhanced flavor.
7. Optional Broil: For a crispy skin, switch the oven to broil during the last 3-5 minutes of cooking, keeping a close eye to prevent burning.
8. Garnish: Once done, remove the chicken from the oven and let it rest for a few minutes. Sprinkle chopped green onions and sesame seeds on top for garnish.

These steps will guide you to prepare a delicious and flavorful Baked Huli Huli Chicken that captures the essence of Hawaiian cuisine effortlessly!