In a large bowl, combine Dr. Pepper, maple syrup, Dijon mustard, chipotle sauce, apple cider vinegar, garlic powder, onion powder, smoked paprika, salt, and pepper. Whisk until well blended.

Place the chicken thighs in a resealable plastic bag or a shallow dish and pour the marinade over the chicken. Seal the bag or cover the dish and refrigerate for at least 2 hours, preferably overnight for maximum flavor.

Preheat your grill or oven to 375°F. If using a grill, prepare it for medium heat.

Remove the chicken from the marinade, allowing excess marinade to drip off. Reserve the marinade for basting.

If grilling, place the chicken skin-side down on the grill. Cook for about 10-12 minutes, then flip and baste with the reserved marinade. Continue cooking for another 10-12 minutes or until the internal temperature reaches 165°F.

If baking, place the chicken skin-side up on a lined baking sheet. Bake for 30-35 minutes, basting halfway through, until the chicken is cooked through and the skin is crispy.

Once cooked, remove the chicken from the grill or oven and let it rest for 5 minutes before serving. Garnish with fresh cilantro if desired.