Recent inelastic neutron scattering (INS) investigations of the kagome metal TbMn6Sn6 reveal novel chiral magnetic excitations associated with the kagome layer. These excitations appear to have an itinerant character with a large energy scale (> 100 meV) and heavy damping; however, the origin of these excitations, which are not predicted by local moment linear spin-wave theory, is not understood. Here, we use INS to show that chiral excitations are also found in RMn6Sn6 compounds with R=Tb, Ho, Er, and Y having uniaxial, tilted, planar ferrimagnet, and planar double-spiral magnetic structures, respectively. Thus, the chiral excitations exist regardless of the magnetic structure. Additionally, R=Er and Y demonstrate that the chiral mode intensity is weaker in planar magnetic structures, suggesting that excitations are transverse to the local Mn moment direction. The chiral excitations appear only at L=odd positions in the Brilloun zone, and correspond to chiral spin exciations of the same handedness within each kagome layer, and pi out-of-phase between layers.