Preheat the oven to 400°F (200°C) and line a large rimmed sheet pan with parchment paper.
In a small mixing bowl, whisk together the honey, soy sauce, minced garlic, olive oil, sesame oil, ginger, and black pepper.
Place the chicken pieces and cauliflower florets on the prepared sheet pan.
Reserve 2 tablespoons of the sauce for later; pour the remaining sauce over the chicken and cauliflower.
Toss the ingredients until evenly coated and spread them out into a single layer across the pan.
Bake for 25 to 30 minutes, or until the chicken reaches an internal temperature of 165°F (74°C) and the cauliflower is tender with caramelized edges.
Remove from the oven, drizzle with the reserved sauce, and garnish with sesame seeds and sliced green onions.