In a small saucepan, combine the garlic, ginger, pepper, soy sauce, honey, and lime juice. Slowly bring to a boil over medium heat. Set aside and cool.
Toss the pineapple and chicken into the marinade and refrigerate. Let marinate for 1 to 2 hours.
Heat the grill over medium-high heat.
Thread the pineapple, chicken, and onion onto 6 metal skewers and grill for 10 minutes, turning once, until the chicken is browned and cooked through. Transfer to a serving platter and sprinkle with chopped cilantro.