In a mixing bowl, whisk together the Greek yogurt, olive oil, lemon juice, lemon zest, minced garlic, minced ginger, ground cumin, ground coriander, paprika, cayenne pepper, cinnamon, salt, freshly ground black pepper, and chopped cilantro until well combined.

Place the boneless skinless chicken thighs or breasts in a gallon-size resealable freezer bag.

Pour the yogurt marinade over the chicken and seal the bag while pressing out any excess air.

Massage the marinade evenly over all pieces of chicken and let marinate in the refrigerator for at least 2 hours, up to 8 hours for breasts or 24 hours for thighs.

Preheat a gas grill to 425°F (220°C).

Clean the grill grates thoroughly and lightly brush them with oil using a balled-up paper towel held with long tongs.

Place the marinated chicken on the hot grill and cook for about 5 to 7 minutes per side, turning once, until the internal temperature reaches 165°F (74°C).

Brush the chicken lightly with olive oil halfway through grilling to prevent drying out.

Remove the chicken from the grill and let it rest for a few minutes before garnishing with additional chopped cilantro.