In a large resealable bag or mixing bowl, combine orange juice, lime juice, olive oil, minced garlic, achiote powder, ground cumin, ground coriander, dried oregano, sea salt, and black pepper. Whisk until well blended.

Add chicken to the marinade, ensuring each piece is well coated. Seal and let it marinate at room temperature for 30 minutes, or refrigerate for up to 4 hours.

Preheat your grill to medium-high heat (375°F to 425°F).

Remove chicken from marinade, discarding leftover liquid. Grill skin-side down for about 20 minutes, flipping halfway through.

Move chicken to indirect heat, close the lid, and cook for another 15-20 minutes until the internal temperature reaches 165°F.

Let chicken rest for 10 minutes before serving. Garnish with lime wedges and chopped cilantro.