In a mixing bowl, whisk together soy sauce, honey, peanut butter, rice vinegar, grated fresh ginger, minced garlic, ground cumin, ground coriander, red pepper flakes, sesame oil, and lime juice until a smooth, creamy marinade forms.

Place the chicken thighs into a bowl or zip-top bag, pour the marinade over, and refrigerate for at least 2 hours, ideally overnight.

Preheat your grill to medium-high heat or oven to 400°F (200°C).

Grill each piece skin-side down for 6-8 minutes, then flip and cook for another 6-8 minutes, or until the internal temperature reaches 165°F.

Or, roast the chicken on a baking sheet for 35-40 minutes, basting occasionally with marinade.

Let it rest for a few minutes before garnishing with cilantro and sesame seeds.