In 2-quart saucepan, cook rice in 2 cups water as directed on package, omitting salt.
In 12-inch nonstick skillet, heat oil over medium heat. Add chicken and onion; cook 6 to 8 minutes, turning chicken and stirring onion occasionally, until onion is tender and chicken is no longer pink.
Stir in teriyaki baste and glaze, 1/2 cup water, the carrots and sugar snap peas. Heat to boiling; boil 1 minute. Reduce heat; cover and simmer 4 to 6 minutes longer, stirring occasionally, until vegetables are crisp-tender. Gently stir in orange segments. Serve chicken mixture over rice.