Whisk the marinade/sauce ingredients together in a small bowl: cilantro, garlic, orange zest, orange juice, brown sugar, 2 Tablespoons olive oil, honey, lime zest, lime juice, salt, and pepper. Add the chicken to a medium bowl and pour ⅓ cup of the sauce on top. Stir to ensure the chicken is completely coated. Reserve the remaining sauce for later.

Heat the remaining 1 Tablespoon olive oil in a skillet over medium-high heat, about 30 seconds. Place the chicken in the skillet and brown each side for about 7-8 minutes. Discard the used marinade.

While the chicken cooks, make the salsa: Add the pineapple, jalapeño, red onion, cilantro, lime juice, salt, and avocado (if using) to a small bowl and stir to combine. Set aside.

Add the cornstarch mixture to the reserved marinade/sauce and whisk together. Pour the sauce over the chicken, stir to combine, and bring the sauce to a simmer. Once simmering, cook for 2 minutes until the sauce has thickened and the chicken reaches a temperature of 165°F.

Serve chicken over rice topped with pineapple salsa and beans.