Wash chicken under cold water.
Pat dry using paper towels.
Place chicken into large bowl.
Add orange juice into bowl.
Squeeze lime juice over chicken.
Add minced garlic and olive oil.
Mix cumin, oregano, paprika, pepper.
Sprinkle salt evenly over chicken.
Add soy sauce for flavor depth.
Mix marinade with whisk gently.
Pour marinade over chicken completely.
Place chicken in ziplock bag.
Refrigerate for at least four hours.
Preheat grill to medium-high heat.
Remove chicken from refrigerator.
Place chicken directly on grill.
Cook chicken for seven minutes each side.
Check internal temperature reaches 165°F.
Remove from grill once fully cooked.
Garnish with fresh cilantro and serve.