In a medium bowl, whisk together all of the marinade ingredients. Place the chicken thighs in a large ziplock bag. Pour in the marinade and let it marinade for at least 30 minutes, up to 4 hours.
Preheat the oven to 425°F and set oven rack to middle position. Line a rimmed baking sheet with foil and place a wire rack on top of the baking sheet. Place the marinated chicken thighs, skin side up, on top of the wire rack, making sure to let excess marinade drip off. Discard the marinade. Bake until the thighs are cooked through and no longer pink on the inside, about 35 minutes. Garnish with lime slices and cilantro. Serve and enjoy!