Creating delicious Pollo Asado is easy when you follow these simple steps:

1. Prepare the Marinade: In a mixing bowl, combine olive oil, lime juice, orange juice, minced garlic, chili powder, cumin, smoked paprika, oregano, salt, black pepper, and cayenne pepper (if using).

2. Marinate the Chicken: Place the chicken in a resealable plastic bag or shallow dish. Pour the marinade over the chicken, ensuring it is well coated. Seal the bag or cover the dish. Refrigerate and let marinate for at least one hour, or up to overnight for optimal flavor.

3. Preheat the Grill: If grilling, preheat your grill to medium-high heat. Make sure the grates are clean and oiled to prevent sticking.

4. Remove Chicken from Marinade: Take the chicken out of the marinade, allowing any excess marinade to drip off. Discard the remaining marinade.

5. Grill the Chicken: Place the chicken on the grill and cook for 5-7 minutes on each side, or until the internal temperature reaches 165°F (75°C).

6. Check for Doneness: Use a meat thermometer to ensure the chicken is cooked through. Adjust cooking time as necessary based on thickness.

7. Rest the Chicken: Remove the chicken from the grill and let it rest for about 5 minutes before slicing. This helps retain the juices.

8. Garnish: Serve the chicken with a sprinkle of fresh cilantro for an added burst of flavor and color.

9. Enjoy: Slice or serve the chicken whole, and get ready for a delightful meal!