In a medium bowl, combine orange juice, lime juice, olive oil, minced garlic, achiote powder, ground cumin, ground coriander, dried oregano, sea salt, and ground black pepper. Whisk until well blended.

Place the chicken in a large resealable bag or shallow dish. Pour the marinade over the chicken, seal the bag and gently massage the marinade into the meat. Refrigerate for at least 30 minutes, ideally up to four hours.

Preheat your grill to medium-high heat (about 400°F) for grilling, or preheat your oven to 400°F and line a baking sheet with parchment paper.

For grilling, place the marinated chicken on direct heat for about 20 minutes, then move to indirect heat for an additional 15-20 minutes until the internal temperature reaches 165°F. For oven roasting, roast skin-side up for 35-45 minutes.

Once fully cooked, allow the chicken to rest for about 10 minutes before serving.