In a mixing bowl, whisk together ½ cup of soy sauce, 2 tablespoons of honey, ¼ cup of creamy peanut butter, and 2 tablespoons of rice vinegar until smooth. Add 1 tablespoon of freshly grated ginger, 3 minced garlic cloves, 1 teaspoon of ground cumin, 1 teaspoon of ground coriander, and a pinch of red pepper flakes if using. Stir in 2 tablespoons of sesame oil and the juice of one lime until well combined.

Place 4 bone-in, skin-on chicken thighs into a large zip-top bag or bowl. Pour the marinade over the chicken, seal tightly, and refrigerate for at least 2 hours, preferably overnight.

Preheat your grill to medium-high heat (about 400°F) or your oven to 400°F (200°C). This step is crucial for achieving a beautifully charred or crispy skin.

If grilling, place the chicken thighs on the grill, cooking for 6–8 minutes per side until the internal temperature reaches 165°F. Alternatively, roast the chicken on a baking sheet lined with foil for 35–40 minutes, basting occasionally with the leftover marinade.

Once cooked, let the chicken rest for a few minutes. To serve, sprinkle with freshly chopped cilantro and toasted sesame seeds.