Season chicken with salt and pepper. Place on a baking sheet with a piece of aluminum foil on the bottom of each cavity.
Combine peanut butter, chicken broth, soy sauce, honey, brown sugar, vinegar, and sesame oil in a small saucepan over medium heat, stirring until thickened, about 5 minutes. Pour over chicken.
Place chicken in the oven and roast for 25-30 minutes, turning occasionally.
While chicken is roasting, steam rice to your desired doneness.
Serve chicken and rice together, garnished with sliced green onions and toasted sesame seeds.