Combine all spices in a small bowl. Rub the skin side of the chicken with the rub and let rest for 30 minutes. Heat the grill to medium heat and grill the thighs, skin side down for 12 to 15 minutes, or until golden brown. Turn the chicken, close the cover of the grill and move the chicken to the side (or cooler part) of the grill. Continue cooking for 6 to 7 minutes or until completely cooked through. Remove to a platter and let rest 5 minutes before serving. Serve fresh mango slices and Mango-Habanero Hot Sauce. Sprinkle leaves of cilantro on top.
Heat oil in medium saucepan over medium heat. Add onions, garlic, mangoes, habanero and vinegar and cook over low heat for 15 to 20 minutes. Place the mixture in a blender and blend until smooth. If the mixture is too thick, add a few tablespoons of warm water or vinegar. Season with salt.