Preheat grill to medium-high.
Place marinade ingredients in a food processor and process into a paste. Place the chicken and marinade in a ziplock bag and massage well to mix and coat all sides well. (Or brush all sides well with marinade and place in a container.) Marinate 20 mins or up to 3 days.
Grill each side of chicken 6-7 minutes, or until good grill marks appear. Lower heat and move chicken to cooler side of the grill and continue to grill until chicken is cooked through and internal temperature reaches 165F.
Let it rest 5-10 mins before serving and squeeze with lime. Sprinkle with optional cilantro.