Preheat your grill or oven to 375°F (190°C).
In a medium bowl, combine the diced peaches, jalapeños, honey, soy sauce, olive oil, minced garlic, ground ginger, salt, black pepper, and lime juice. Mix well to create the glaze.
Place the chicken thighs in a large resealable plastic bag or a shallow dish. Pour half of the peach-jalapeño glaze over the chicken, reserving the other half for later. Seal the bag or cover the dish, and marinate in the refrigerator for at least 30 minutes, or up to 2 hours for more flavor.
Remove the chicken from the marinade and discard the used marinade. Grill or bake the chicken for 20-25 minutes, turning halfway through, until the internal temperature reaches 165°F (74°C).
During the last few minutes of cooking, brush the reserved glaze over the chicken for added flavor.
Once cooked, remove the chicken from the grill or oven and let it rest for 5 minutes. Garnish with fresh cilantro before serving.