In a small bowl, with a whisk, mix soy sauce, honey, rice vinegar, garlic, sesame oil if using and ginger. Add 2 tablespoon of canola oil while whisking. Set aside.
In a large non adhesive skillet, heat remaining canola oil at medium-high heat. Add onion and cook, stirring, for 2 minutes. Add broccoli, zucchini, red bell pepper, green beans and 1/2 cup of the sauce (step 1) and stir. Keep cooking 3 to 5 minutes. Add arugula and bok choy and cook, stirring, until soften. Add the remaining sauce and bring to boil. Cover and cook about 7 minutes or until green beans and brocoli are tender.
Spread cooked pasta and the veggies in 4 plates. Sprinkle each serving with sesame seeds. Serve now.