Whisk all marinade ingredients together in a small bowl. Pour half the marinade (about 3/4 cup) into a sealed zipper bag or container and add chicken thighs. Marinate for 3-6 hours in the fridge or over the night.
Grease the grill with oil, and preheat to high heat. Add chicken thighs and grill for 8-10 minutes, flipping once, or until thermometer reads 160F. Brush with glaze over the chicken and garnish with chopped cilantro. Serve with grilled veggies.
To make glaze, mix 1/2 teaspoon cornstarch into reserved 1/4 cup marinade and microwave for 30 seconds to 1 minute to make a glaze-like consistency. Brush over grilled chicken.
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