Creating this delicious Pollo Asado is straightforward if you follow these easy steps:

1. Prepare the Marinade: In a large mixing bowl, combine orange juice, lime juice, olive oil, minced garlic, cumin, paprika, oregano, chili powder, salt, and black pepper. Whisk until well combined.

2. Marinate the Chicken: Add chicken thighs and drumsticks to the marinade. Ensure each piece is well coated. Cover the bowl with plastic wrap and refrigerate for at least 2 hours, or overnight for maximum flavor.

3. Preheat the Grill or Oven: If using a grill, preheat it to medium-high heat. If using an oven, preheat to 375°F (190°C).

4. Remove Chicken from Marinade: Take the chicken out of the marinade and let it sit at room temperature for about 10-15 minutes. This helps with even cooking.

5. Grill the Chicken: Place the marinated chicken pieces on the grill. Cook for about 25-30 minutes, turning occasionally. The chicken is done when the internal temperature reaches 165°F (75°C).

6. Bake the Chicken: If using an oven, lay the chicken pieces on a baking sheet lined with aluminum foil. Bake for 40-45 minutes, turning halfway through, until the chicken is golden brown and cooked through.

7. Rest the Chicken: Once cooked, remove the chicken from the heat. Allow it to rest for about 5-10 minutes.

8. Garnish: Sprinkle fresh cilantro on top for a vibrant finish.

9. Serve: Serve the Pollo Asado hot, accompanied by lime wedges for squeezing over the top.

These steps will guide you through making this incredible Pollo Asado effortlessly.