Whisk the pineapple juice, ketchup, soy sauce, brown sugar, ginger, garlic and sesame oil until the sugar dissolves. Set aside 1/2 cup of the marinade for basting.
Put the chicken thighs in a bowl or zip-top bag, pour the remaining marinade over them and refrigerate for at least 2 hours, or overnight.
Heat the grill to medium-high and set it up for indirect cooking.
Remove the chicken from the marinade and let the excess drip off. Discard the used marinade.
Grill the chicken over indirect heat, turning it every few minutes ("huli" means "turn"), until it reaches 165°F (74°C) inside, about 15 to 20 minutes.
Brush with the reserved marinade during the last 5 minutes and move the chicken over direct heat briefly to caramelize the glaze.
Let the chicken rest for 5 minutes before serving.