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Preheat the oven to 400ºF. Spray a large sturdy baking sheet with cooking spray or for easier clean-up, line with parchment paper or heavy-duty foil.
Place the chicken thighs on the prepared baking sheet. Season with salt and black pepper to taste.
In a small bowl, combine the soy sauce, lime juice, honey, sesame oil, and cilantro together. Drizzle 1/3 of the sauce over the chicken.
Bake for 20 minutes. Meanwhile, combine the seasonings in a small bowl and set aside.
After 20 minutes, remove baking pan from the oven, flip the chicken and place the asparagus, broccoli and bell peppers a long the sides of the chicken. Sprinkle the chicken and vegetables with seasonings and drizzle sauce over the vegetables and some more on the chicken (reserve 1 teaspoon for the end).
Return the oven back to the pan and bake for another 10-15 minutes, or once the chicken is cooked through and has reached an internal temperature of 165ºF. (You may want to remove the vegetables first (so they don't overcook) if the chicken is not cooked through yet, depending on your level of preference.)
Drizzle the chicken with additional sauce and turn the oven to broil for 1-2 minutes, until the chicken has a nice brown color (watch closely so the chicken does not burn).
Sprinkle with chopped cilantro or parsley, if desired and serve hot.
For meal prepping: Make the rice, potatoes, quinoa or pasta while the chicken is cooking. Divide evenly into lunch containers and store in the fridge for up for up five days.