Combine water, soy sauce, brown sugar, honey, garlic, and ginger in a small saucepan and bring to a boil over medium-high heat. Reduce heat to medium-low and simmer until sauce has reduced and thickened slightly, 8 to 10 minutes.

Preheat an outdoor grill for medium-high heat and lightly oil grate. Thread shrimp and pineapple alternately onto skewers and place on a platter.

Arrange skewers on the hot grate. Grill 2 to 3 minutes per side, or until shrimp is opaque and cooked through. Turn grill to low heat and brush sauce on both sides of skewers. Transfer to a serving platter and sprinkle with cilantro and sesame seeds.