In a medium bowl, whisk together ½ cup soy sauce, ¼ cup honey, and ¼ cup peanut butter until smooth. Add 2 tablespoons rice vinegar, 1 tablespoon minced fresh ginger, 3 minced garlic cloves, 1 teaspoon ground cumin, 1 teaspoon ground coriander, ½ teaspoon red pepper flakes, 1 tablespoon sesame oil, and juice from 1 lime.

Place 4 bone-in, skin-on chicken thighs into a large bowl or zip-top bag. Pour the marinade over the chicken, ensuring every piece is well-coated. Refrigerate for at least 2 hours, preferably overnight.

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

For roasting, place the marinated chicken thighs on a baking sheet and roast for 35–40 minutes, basting halfway through. Ensure it reaches an internal temperature of 165°F.

For grilling, cook the chicken for 6–8 minutes on each side until fully cooked and slightly charred.

Remove the chicken from the oven or grill, let it rest for a few minutes, and garnish with chopped fresh cilantro and toasted sesame seeds.