In a medium mixing bowl, whisk together soy sauce, honey, peanut butter, rice vinegar, ginger, garlic, cumin, coriander, red pepper flakes, sesame oil, and lime juice until smooth.

Place chicken thighs in a bowl or zip-top bag. Pour marinade over chicken, ensuring each piece is coated. Seal and refrigerate for at least 2 hours or overnight.

Preheat grill to medium-high heat (375°F) or oven to 400°F (200°C). For grilling, cook chicken for 6-8 minutes on each side, until temperature reaches 165°F.

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

Remove from heat and let rest. Garnish with cilantro and sesame seeds before serving.