Heat olive oil in a large skillet over medium-high heat.
Add red and yellow bell peppers, broccoli, and snap peas. Stir-fry for 4-5 minutes.
Add zucchini and garlic. Cook for an additional 2 minutes until vegetables are tender-crisp.
In a small bowl, mix soy sauce, sesame oil, honey, cornstarch, and water.
Pour the sauce over the vegetables and stir well. Cook for 1-2 minutes until the sauce thickens.
Season with salt and pepper to taste. Garnish with sesame seeds if desired.
Serve hot with rice or noodles.