In a blender, combine cilantro, onion, orange juice, lime juice, garlic, paprika, oregano, kosher salt, cumin, pepper, and ground cayenne pepper. Blend until smooth.
Marinate the chicken evenly in a resealable bag or large bowl. Seal the bag or cover the bowl, then refrigerate for 1-4 hours.
Remove chicken from marinade, allowing excess to drip off.Outdoor grill: Preheat and rub oil on the grates. Grill the chicken undisturbed for about 5-10 minutes per side.
Grill pan: Preheat a grill pan and grill for 3-5 minutes per side.Oven: Cook the chicken on a baking sheet coated with nonstick cooking spray for about 18-25 minutes.
The chicken is done cooking once it reaches an internal temperature of 165 degrees F.
Allow to rest for at least5 minutes before serving with lime wedges.