In a small bowl, whisk together the soy sauce, honey, rice vinegar, sesame oil, and cornstarch until smooth. This will be your teriyaki sauce.
Heat 1 tablespoon of vegetable oil in a large skillet or wok over medium-high heat. Add the shrimp and cook until they turn pink, around 2-3 minutes. Remove from the skillet and set aside.
In the same skillet, add the remaining tablespoon of oil. Once hot, add the minced garlic and grated ginger, stirring quickly for about 30 seconds until fragrant.
Add the broccoli, bell pepper, and carrot to the skillet. Stir-fry the vegetables for about 4-5 minutes until they are tender yet crisp.
Return the shrimp to the skillet, pour the teriyaki sauce over the shrimp and vegetables, and toss everything to coat. Cook for another 2 minutes, allowing the sauce to thicken slightly.
Once fully combined and heated through, remove from heat and let sit for a moment.
Serve the stir fry over cooked rice or noodles, garnished with sesame seeds for added crunch.