In a large bowl, whisk together the peanut butter, soy sauce, honey, rice vinegar, lime juice, garlic, ginger, and red pepper flakes until smooth and well combined.
Add the chicken thighs to the bowl, ensuring they are well coated with the peanut sauce. Cover and marinate in the refrigerator for at least 30 minutes, or up to 2 hours for more flavor.
Preheat your grill or a large skillet over medium-high heat. If using a skillet, add a little oil to prevent sticking.
Remove the chicken from the marinade, allowing excess sauce to drip off. Grill or cook the chicken for about 6-7 minutes per side, or until the internal temperature reaches 165°F.
Once cooked, remove the chicken from the heat and let it rest for 5 minutes before slicing.
Serve the sliced chicken over cooked jasmine rice or rice noodles, drizzling any remaining peanut sauce on top. Garnish with chopped green onions and cilantro.