Get some of the pHydrion pH paper and . . .(Master Food Preserving talk)
test the sauce/glaze to make sure it is indeed acid enough to safely can this way. (pH a lower value number than 4.5, like 4.0, 3.5, 3.0, etc.). Pineapple is an acid fruit and it sounds as if your glaze *might* be acid enough to home preserve under the right conditions--but you will not be sure unless you have some way to test the glaze's acid content, and the easiest way is pH paper.
There is a self-sealing method with jars with 2 piece lids, but we (Master Food Preservers) do not recommend it as the results can be somewhat iffy. The times I had sucessfully used the above method was when making jam and the jars were hot, on a dry towel to insulate them from the cold counter top, the lids were hot, the contents were just boiled, and then I capped and sealed the jars, turned them upside down on the dry towel and let them cool. I no longer use this method as I live in a hot area and my household temperatures fluctuate too much and have had seal failures using it.
The procedure you describe sounds like the old-fashioned "open-kettle" canning method. This method is NOT recommeded any more for safety's sake.
I would recommend processing in a boiling water bath at least 5 minutes, if not longer, depending on the size of the jar, just to insure you pull a really good vacuum and that you do indeed kill off organizims that may cause failure to seal or sickness.
All you need is one customer to get sick and have it traced to your product and then you will be regretting the experience greatly. Check with your County Agricultural Extension office for more information, and get some pH paper!