We propose a multiple imputation method for estimating the incidence rate with interval censored data and time-dependent (and/or time-independent) covariates. The method has two stages. First, we use a semi-parametric G-transformation model to estimate the cumulative baseline hazard function and the effects of the time-dependent (and/or time-independent covariates) on the interval censored infection times. Second, we derive the participant's unique cumulative distribution function and impute infection times conditional on the covariate values. To assess performance, we simulated infection times from a Cox proportional hazards model and induced interval censoring by varying the testing rate, e.g., participants test 100%, 75%, 50% of the time, etc. We then compared the incidence rate estimates from our G-imputation approach with single random-point and mid-point imputation. By comparison, our G-imputation approach gave more accurate incidence rate estimates and appropriate standard errors for models with time-independent covariates only, time-dependent covariates only, and a mixture of time-dependent and time-independent covariates across various testing rates. We demonstrate, for the first time, a multiple imputation approach for incidence rate estimation with interval censored data and time-dependent (and/or time-independent) covariates.