Prepare a charcoal or gas grill for direct cooking over medium-high heat (375 to 400°). Microwave frozen rice on HIGH for 2 minutes or just until thawed; set aside.

Combine pineapple, baby bok choy, frozen edamame, and red bell peppers in a large bowl. Add ¾ cup teriyaki marinade and sauce; toss. Toss shrimp with additional ¼ cup additional teriyaki sauce in another bowl.

Create 4 (16x12-inch each) sheets of heavy foil. Spoon 1 cup rice on one half of each sheet. Top with vegetable mixture. Arrange shrimp on outer edges of vegetables. Fold other half of foil over shrimp and vegetables; double-fold to seal.

Grill packets 6 to 8 minutes or until shrimp are opaque (145°). Warm an additional ½ cup teriyaki sauce; drizzle 2 tablespoons over each serving. Garnish with sesame seeds, if desired.