Pat the chicken thighs dry with paper towels and season generously with salt and pepper on both sides.
Heat olive oil in a large, heavy-bottomed skillet over medium-high heat until shimmering. Place the chicken skin-side down and cook for 6-7 minutes until golden brown. Flip and cook for another 3 minutes.
Remove chicken from the pan and set aside. Pour out all but 2 tablespoons of fat.
Lower heat to medium and add onions to the pan. Cook until softened, about 5 minutes.
Add garlic and cumin, cooking for another minute until fragrant.
Pour in orange juice, chicken broth, and honey. Add cinnamon sticks and bring to a simmer.
Return chicken to the pan skin-side up, nestling it among the onions. Add orange slices around the chicken.
Cover and simmer for 25-30 minutes, or until chicken is cooked through.
Remove lid and cook for an additional 5 minutes to reduce sauce slightly.