Step 1

Whisk soy sauce, honey, orange juice, lime juice, oil and garlic together in a large bowl. Add chicken and toss to coat well. Refrigerate for at least 30 minutes.

Step 2

Preheat grill to medium. Oil the grill rack. Grill the chicken, turning once, until an instant-read thermometer registers 165°F, about 12 minutes total.

Step 3

Meanwhile, pour the marinade into a small saucepan. Bring to a simmer over medium-high heat. Lower the heat to maintain a lively simmer; cook until reduced to about 3/4 cup, 5 to 7 minutes. Serve the chicken with a drizzle of sauce and garnish with cilantro and orange slices, if desired.