Prepare Ingredients: Mince the garlic cloves and ginger. Measure out all the ingredients using measuring cups and spoons.
Combine Liquid Ingredients: In a saucepan, add 1 cup of soy sauce, 1/4 cup of honey, 1 cup of water, 3/4 cup of brown sugar, 1/4 cup of apple juice, and 2 tablespoons of rice vinegar. Stir to combine.
Add Aromatics: Add the minced garlic and ginger to the saucepan. Stir well to incorporate.
Heat the Mixture: Place the saucepan over medium heat. Stir occasionally and bring the mixture to a gentle simmer.
Make Cornstarch Slurry: In a small bowl, combine 2 tablespoons of cornstarch with 2 tablespoons of water. Mix until smooth to create a slurry.
Thicken the Sauce: Once the sauce is simmering, slowly pour in the cornstarch slurry while stirring continuously. This will help thicken the sauce.
Continue to cook for about 2-3 minutes, or until the sauce reaches your desired thickness.
Add Sesame Oil and Seeds: Remove the saucepan from heat. Stir in 1 tablespoon of sesame oil and, if desired, 1 tablespoon of sesame seeds for added flavor and texture.
Cool and Store: Allow the sauce to cool to room temperature. Transfer it to an airtight container or jar and store it in the refrigerator.
Serve: Use the teriyaki sauce as a marinade, stir-fry sauce, or dipping sauce as desired.