In a large mixing bowl, combine soy sauce, honey, peanut butter, rice vinegar, grated fresh ginger, minced garlic, ground cumin, ground coriander, red pepper flakes, sesame oil, and lime juice. Whisk until smooth. Add chicken, coat well, cover and marinate for at least 2 hours or overnight.

Preheat your grill to medium-high heat (375°F to 400°F) or the oven to 400°F (200°C). Let marinated chicken come to room temperature.

Grill chicken thighs for approximately 6–8 minutes per side or until cooked through (internal temperature should reach 165°F).

For roasting, arrange chicken on a lined baking sheet and roast for 35–40 minutes, basting occasionally.

Let chicken rest for a few minutes, then garnish with cilantro and sesame seeds before serving.