01 -
Zest the oranges and limes to yield 1 teaspoon of zest from each. Juice oranges for 3/4 cup of orange juice and limes for 1/3 cup lime juice.
02 -
Combine orange juice, lime juice, orange zest, lime zest, olive oil, honey, ground cumin, soy sauce, minced garlic, chopped cilantro, salt, and pepper in a medium bowl. Whisk thoroughly. Reserve 1/2 cup of marinade and transfer the remainder to a large resealable bag.
03 -
Trim any visible fat from chicken. Pound to even thickness or halve as needed for uniform pieces. Place chicken in the marinade bag, seal, and refrigerate for at least 30 minutes, turning halfway. Marinate up to 6 hours for best flavor.
04 -
Preheat grill to 450°F (232°C) and lightly oil the grill grate or grill pan surface.
05 -
Remove chicken from marinade and place on the grill, discarding used marinade. Cook for 10 to 12 minutes, turning halfway through and basting with reserved marinade. Grill until juices run clear and internal temperature reaches 165°F (74°C).
06 -
While chicken grills, prepare mango-avocado salsa and, if desired, cilantro-lime or coconut-lime rice.
07 -
Plate grilled chicken over prepared rice, if using. Top generously with mango-avocado salsa. Serve immediately.