In a large bowl, whisk together the orange juice, olive oil, honey, cumin, garlic powder, onion powder, salt, black pepper, and red pepper flakes. Add the chicken thighs and coat them well in the marinade. Cover and refrigerate for at least 30 minutes, or up to 2 hours for more flavor.
Preheat your grill or a large skillet over medium-high heat. Remove the chicken from the marinade, letting any excess drip off. Grill or cook the chicken for about 6-7 minutes on each side, or until the internal temperature reaches 165°F and the chicken is nicely browned.
While the chicken is cooking, heat the black beans in a small saucepan over medium heat until warmed through. Stir in half of the chopped cilantro and season with salt to taste.
Once the chicken is cooked, let it rest for a few minutes before slicing it into strips.
To serve, place a scoop of rice on each plate, top with the cilantro black beans, and arrange the sliced chicken on top. Garnish with the remaining cilantro and serve with lime wedges.