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In sauce pan on low heat, add all of glaze ingredients and stir with a whisk until ingredients liquify (about 2 mins). Pour into small bowl when done.
Set grill to medium to high heat. Can also cook in a iron skillet or non-stick pan.
Place chicken thighs on grill, cook 3-5 minutes each side. Repeat process for 15-20 minutes, or until chicken has good through. Brush chicken with glaze repeatedly throughout grilling process. When chicken is crispy, cooked through and glaze covered, add on top of warm quinoa and enjoy!