In a large mixing bowl, combine the yogurt, lemon juice, vegetable oil, garlic paste, ginger paste, tandoori masala, ground cumin, ground coriander, paprika, salt, black pepper, and cayenne pepper. Whisk until smooth and well combined. This marinade will tenderize the chicken and infuse it with flavor.

Add the chicken thighs to the marinade, ensuring they are fully coated. Cover the bowl with plastic wrap and refrigerate for at least 2 hours, or overnight for best results. The longer the chicken marinates, the more flavorful it will be.

Preheat your grill to medium-high heat (about 375°F to 400°F). If using an oven, preheat to 425°F. This ensures a nice sear on the chicken, locking in moisture.

Remove the chicken from the marinade, allowing excess marinade to drip off. Place the chicken on the grill or a baking sheet if using the oven. Grill each side for about 6-8 minutes, or until the internal temperature reaches 165°F. Use a meat thermometer to check for doneness.

If using an oven, bake for 25-30 minutes, turning halfway through. The chicken should be charred and cooked through.

Once cooked, remove the chicken from the grill or oven. Let it rest for 5 minutes before serving. Garnish with chopped cilantro and lemon wedges. Serve with naan or rice for a complete meal.