In a mixing bowl, whisk together the yogurt, lemon juice, lemon zest, garlic, paprika, cumin, onion powder, salt, pepper, and cilantro.
Pat the chicken breasts dry with a paper towel to remove excess moisture. Then place them in a gallon-size resealable ziplock or reusable bag and pour yogurt marinade over the chicken.
Seal the bag carefully while pressing out any excess air.
Then, rub the chicken breasts with the yogurt marinade to coat them well. Let the chicken marinade for at least 45 minutes or up to 24 hours.
Outdoor Grill: Preheat grill to 425°F (medium-high heat). Make sure to clean your grill grates and lightly grease by spraying or dipping paper towels in oil and spreading them across the grill. Then, grill the chicken for about 5 to 7 minutes per side or 4 - 5 minutes per side (chicken thigh) until cooked through, and the thickest part of the chicken has reached 165°F.
Indoor Grill Pan: Preheat a grill pan on the stovetop to medium-high heat and lightly grease. When ready, add chicken breasts and grill for about 5 to 7 minutes per side (chicken breast) or 4 - 5 minutes per side (chicken thigh) until cooked through, and the thickest part of the chicken has reached 165°F.
Oven: Preheat your oven the 425°F and line a baking sheet with aluminum foil. Evenly space the chicken breasts out on the baking sheet, then bake for 20 – 25 minutes (chicken breast) or 15 - 20 minutes (chicken thigh) until the thickest part of the chicken has reached 165°F.
Air Fry: Preheat air fryer to 370°F. Lightly greese the basket and air fry for 7 - 9 minutes per side (chicken breast) or 5 - 6 minutes per side (chicken thigh) depending on the thickness of the chicken breast. Just make sure the internal temperature reaches 165°F. Transfer the chicken to a plate or cutting board and allow them to rest for 5 minutes before slicing or serving. This makes sure they are extra juicy. Enjoy!