Step 1

In a large bowl or large ziptop bag, combine the garlic, oil, honey, soy sauce, Worcestershire, Dijon, cumin, salt, and cayenne, lime juice and zest.

Step 2

Add the chicken thighs and toss with the marinade to evenly coat. Marinate the chicken at room temperature for 30 minutes or refrigerate for up to 12 hours (I find about 4 to 6 hours is ideal—since this is a small amount of lime juice, you can push to 24 hours if absolutely necessary). Do not let marinate for longer, or the meat will start to break down. Let the chicken stand at room temperature for 15 minutes prior to cooking.

Step 3

TO GRILL: When you are ready to cook the chicken, preheat the a gas, charcoal, or indoor grill to medium-high heat (about 400 degrees F). Scrub the grill grates clean. Remove the chicken from the marinade, shaking off any excess. Oil the grates, then place the chicken smooth-side down. Grill the chicken thighs for 8 to 12 minutes, flipping once halfway through, or until the chicken registers 155 degrees to 160 degrees F at the thickest part when tested with an instant read thermometer (chicken is considered fully cooked through at 165 degrees F, but its temperature will rise as it rests). Transfer to a plate or cutting board, cover, and let rest 5 to 10 minutes. Enjoy warm.

Step 4

TO BAKE: Preheat oven to 425 degrees F. Place the chicken in a single layer in a foil- or parchment-lined baking dish large enough to hold it comfortably without the chicken touching. Bake the chicken until it reaches 155 to 160 degrees F on an instant read thermometer inserted at the thickest part, about 15 to 18 minutes. Don't overcook! Cover and let rest 5 to 10 minutes before serving.