In a bowl, whisk together the vegetable oil, honey, soy sauce, ground black pepper, and minced garlic to make the marinade.
Divide the marinade between two gallon-size resealable bags.
Place the cubed chicken into one bag and seal, removing excess air.
Place the red bell peppers, yellow bell peppers, zucchini, and pineapple into the other bag and seal.
Refrigerate both bags overnight to marinate.
Preheat the grill to low–medium heat.
Drain the marinade from the chicken into a bowl and set aside; place the chicken in a separate bowl. Pour the vegetables and their marinade into another bowl for basting.
Thread chicken pieces, vegetables, and pineapple alternately onto metal skewers, leaving a little space between pieces for even cooking.
Oil the grill grate lightly and place the skewers on the grill.
Grill the skewers for 15–20 minutes, turning every 5–7 minutes and basting with the reserved vegetable marinade toward the end of cooking.
Cook until the chicken juices run clear and an instant-read thermometer inserted into the largest pieces reads 165°F.