Step 1

Coarsely chop 4 garlic cloves and place in a medium bowl. Add 1/4 cup olive oil, 1/4 cup soy sauce, 1/4 cup packed light brown sugar, 2 tablespoons apple cider vinegar, 1 tablespoon Dijon mustard, 1 teaspoon ground cumin, 1 teaspoon smoked or regular paprika, 1/4 teaspoon kosher salt, and 1/4 teaspoon black pepper. Whisk to combine.

Step 2

Pour into a large zip-top bag. Pat 2 pounds boneless, skinless chicken thighs dry with paper towels. Add to the bag, seal, and massage to coat the chicken evenly with the marinade. Refrigerate, flipping the bag halfway through, for at least 2 hours or up to overnight.

Step 3

When ready to cook, heat an outdoor grill to direct, medium-high heat (about 450°F to 500°F). Scrape the grill grates clean if needed.

Step 4

Remove the chicken from the marinade and let any excess drip off. Place on the grill smooth-side down in a single layer, with space in between each piece. Cover and cook until dark grill marks appear, 4 to 5 minutes. Flip the chicken, cover again, and cook until grill marks appear on the second side and the thickest part of the chicken registers at least 165°F on an instant-read thermometer, 3 to 5 minutes more. Transfer to a serving plate. Garnish with chopped fresh cilantro, basil, or parsley leaves if desired.