In a large bowl, combine the orange juice, orange zest, cilantro, garlic, cumin, paprika, salt, and pepper. Add the chicken thighs and marinate for at least 30 minutes, or up to 2 hours in the refrigerator for more flavor.
Heat the olive oil in a large skillet over medium-high heat. Remove the chicken from the marinade (reserve the marinade) and add it to the skillet. Cook for about 5-7 minutes on each side, or until the chicken is browned and cooked through. Remove the chicken from the skillet and set aside.
In the same skillet, add the reserved marinade and bring to a simmer. Cook for about 3-5 minutes, allowing the flavors to meld. Return the chicken to the skillet and coat it in the sauce.
While the chicken is cooking, prepare the rice. In a medium saucepan, combine the rice and chicken broth. Bring to a boil, then reduce the heat to low, cover, and simmer for about 15-20 minutes, or until the rice is tender and the liquid is absorbed.
In a small saucepan, heat the black beans over medium heat. Stir in the chili powder and diced red onion, cooking until warmed through.
To serve, place a scoop of rice on each plate, top with the cilantro orange chicken, and add a side of black beans. Garnish with avocado slices and lime wedges.