In a bowl, whisk together honey, chipotle peppers, adobo sauce, olive oil, lime juice, garlic, smoked paprika, and chili powder.
Season chicken thighs with salt and pepper. Add them to the marinade, coating well. Cover and refrigerate for at least 30 minutes (up to 8 hours).
Oven Method: Preheat oven to 400°F (200°C). Place chicken on a lined baking sheet. Bake 35–40 minutes, basting halfway, until internal temperature reaches 165°F (74°C).
Grill Method: Grill on medium-high heat, 6–7 minutes per side, until cooked through.
Stovetop Method: Sear in a skillet skin-side down until golden, then lower heat and cook covered until done.
Brush with reserved glaze, let caramelize for 2–3 minutes.
Garnish with cilantro and lime. Serve hot.