Preheat your grill to medium-high heat. If using an oven, preheat to 400°F.
In a large bowl, combine the diced peaches, jalapenos, honey, soy sauce, olive oil, garlic, cumin, smoked paprika, salt, and black pepper. Mix well to create the marinade.
Add the chicken thighs to the marinade, ensuring they are well coated. Cover and refrigerate for at least 30 minutes, or up to 2 hours for more flavor.
Remove the chicken from the marinade and discard the remaining marinade.
Grill the chicken thighs for about 6-7 minutes per side, or until the internal temperature reaches 165°F. If baking, place the chicken in a greased baking dish and bake for 25-30 minutes.
Once cooked, let the chicken rest for 5 minutes before slicing.
Garnish with fresh cilantro before serving.