Preheat oven to 400°F and line a large sheet pan with parchment paper.
In a medium bowl, whisk together soy sauce, sesame oil, honey, ginger, garlic, and rice vinegar.
Spread broccoli, bell peppers, and snap peas on the sheet pan. Drizzle with half of the sesame ginger sauce and toss to coat.
Roast vegetables for 10 minutes.
Remove pan from oven and push vegetables to the sides. Place shrimp in the center and brush with remaining sauce.
Return to oven and bake for 6-8 minutes until shrimp are pink and cooked through.
Sprinkle with sesame seeds and green onions before serving. Perfect over rice or noodles!