Whisk together all ingredients for marinade. Add chicken thighs and toss to make sure each piece is fully coated in the marinade. Marinate for 30 minutes in the refrigerator.
When ready to bake chicken, preheat oven to 425 degrees. Line a baking sheet with foil for easy cleanup.
Bake chicken until cooked through, about 20 minutes. When cooked, place under broiler for 1-2 minutes to char the edges (optional).
Remove chicken and allow to rest for at least 5 minutes, then slice.
Serve chicken with tortillas, pico de gallo, guacamole and your other favorite taco toppings!