Preheat the oven to 400°F (200°C).
In a medium bowl, whisk together the soy sauce, orange juice, orange marmalade, ketchup, peanut butter, rice vinegar, fish sauce, brown sugar, Sriracha, and cornstarch until smooth; set the sauce aside.
In a small bowl, combine the olive oil, ground ginger, garlic powder, onion powder, paprika, ground cumin, salt, and pepper to make a rub.
Pat the chicken thighs dry and rub the spice mixture evenly over both sides of each thigh.
Heat an ovenproof skillet over medium-high heat and add 1 tablespoon oil or butter; when hot, sear the chicken 2–3 minutes per side until browned.
Remove the chicken to a plate. Pour the prepared sauce into the skillet, simmer for about 1 minute while scraping up any browned bits to deglaze the pan.
Return the chicken to the skillet, spoon some sauce over each piece, then transfer the skillet to the oven and bake 8–12 minutes, or until the chicken reaches an internal temperature of 165°F (74°C).
Remove from the oven, spoon additional sauce over the chicken if desired, and garnish with chopped roasted peanuts, sliced green onions, and orange zest. Serve over rice if desired.