In a medium mixing bowl, whisk together soy sauce, honey, and peanut butter until smooth. Then add rice vinegar, freshly grated ginger, minced garlic, ground cumin, and ground coriander. Stir in red pepper flakes, sesame oil, and lime juice until combined.

Place chicken thighs in a large bowl or zip-top bag. Pour marinade over, ensuring it's coated. Seal and refrigerate for at least 2 hours.

Preheat grill to medium-high (400°F) or oven to 400°F (200°C). Prepare a baking sheet lined with foil if roasting.

For grilling, place chicken skin-side down and cook for 6–8 minutes per side until golden brown and internal temperature reaches 165°F. For roasting, arrange thighs on baking sheet, roast for 35–40 minutes.

Remove from heat and let rest for 5 minutes. Serve hot, garnished with cilantro and sesame seeds.