Prepare pollo asada marinade by whisking olive oil, orange juice, lime juice, and vinegar in a small bowl or a measuring cup. Mix in crushed garlic, crumbled achiote paste, Mexican oregano, sea salt, coriander, smoked paprika, chipotle pepper, black pepper, cumin, onion powder, and Tajin.
Add defrosted chicken pieces to a large ziplock bag and pour marinade over them. Remove excess air from the bag and seal shut. Marinade chicken for 4 hours. Bring to room temperature before grilling.
Heat grill to medium high heat (between 400-450°F). Once hot, use a wire brush to clean the grill grate and remove leftover residue. Fold a few oil-soaked paper towels and hold with a pair of tongs to oil the grate or use cooking spray.
Add chicken to grill, then cover with lid. Grill chicken breasts for 10-15 minutes (flipping halfway through) or until a meat thermometer inserted in the thickest part reaches an internal temp of 165℉.
Grill bone-in chicken legs for 15-20 minutes, or until they reach an internal temperature of 175-180℉. Allow chicken to rest for 5 minutes before serving.
Notes
Store leftovers in the refrigerator, in an airtight container, for up to 5 days.
Reheat pollo asado in a microwave for a minute, or until heated through.
To reheat in the oven, place chicken in a 325 degree oven for 10-15 minutes.