Whisk together honey, lime juice, chili powder, minced garlic, olive oil, and salt in a medium bowl until the honey is fully dissolved and the marinade looks smooth.

Place chicken thighs in a large zip-top bag or shallow dish. Pour the marinade over the chicken, making sure every piece gets coated. Seal the bag or cover the dish and refrigerate for at least 30 minutes, or up to 4 hours for deeper flavor.

Preheat your grill to medium-high heat, around 375°F to 400°F. Clean and oil the grates to prevent sticking.

Remove chicken from the marinade, letting excess drip off. Place chicken on the preheated grill. Cook for 6-7 minutes per side without moving them too much. The chicken is done when it reaches an internal temperature of 165°F and the juices run clear when pierced.

Transfer chicken to a clean plate and let it rest for 5 minutes before serving. Garnish with fresh cilantro if desired.