To prepare the chicken, remove the tenderloin, if attached. If the breasts are thick (over 1 inch), slice them in half lengthwise to create thinner cutlets. Place the chicken between two sheets of plastic wrap or parchment paper and gently pound it to an even ½-inch thickness so it cooks evenly and absorbs more flavor.
To make the marinade, add the garlic, vegetable oil, ground coriander, ground cumin, chipotle peppers in adobo, honey, salt, orange juice, and black pepper to a blender. Blend until smooth. If you prefer, finely chop the solid ingredients and whisk everything together in a bowl instead.
To marinate the chicken, transfer the marinade to a large ziplog bag or bowl. Add the chicken and turn to coat it evenly in the marinade. Seal the bag or cover the bowl, and refrigerate for 4-6 hours, or up to 12 hours. If you are in a hurry, one hour will work in a pinch, though the flavor won’t be as developed.
About 20 minutes before cooking, remove the chicken from the fridge so it can come closer to room temperature. This helps it cook more evenly on the grill pan.
Heat a grill or grill pan over medium-high heat. Lightly oil the grates or pan to prevent sticking.
Remove the chicken from the marinade, letting the excess drip off (no need to pat dry). Place the chicken on the hot grill and cook for 4–5 minutes per side, or until nicely charred and the internal temperature reaches 160°F (71°C).
Transfer the grilled chicken to a plate, tent it loosely with foil, and let it rest for 5 minutes. This helps keep the juices inside.
Slice the chicken against the grain and serve warm. Garnish with chopped cilantro, red onion, and squeeze some lime juice, if desired.