In a large skillet, heat olive oil over medium heat. Add asparagus, mushrooms, red bell pepper, and green pepper. Season with salt and pepper. Saute until tender, about 10-12 minutes.
Add minced garlic to skillet and cook for 30 seconds. Remove veggies to a separate plate and set aside.
In the same skillet, add chicken and season with salt and pepper. Cook until no longer pink, about 4-5 minutes per side. To achieve the golden color, try not to move chicken until ready to flip.
While chicken is cooking, in a small bowl whisk chicken broth, soy sauce, honey, sesame oil, and cornstarch until smooth.
Add veggies back to skillet with chicken, pour honey garlic sauce over chicken and veggies and heat until sauce is boiling and becomes thick, about 1 minute, stirring occasionally.
Remove from heat and serve with white rice, if desired.