Pat the chicken thighs dry with paper towels and cut into 1½- to 2-inch pieces.
Sprinkle 1 teaspoon kosher salt and ½ teaspoon pepper on the chicken and toss well to distribute seasoning.
In a large bowl, whisk together coconut aminos, fish sauce, honey, garlic, ginger, orange juice, sesame oil, avocado oil, lime zest and juice, coconut milk, and arrowroot powder.
Drop in the chicken pieces and toss to coat with the marinade. Marinate the chicken at room temperature for 20 to 30 minutes. You can marinate up to two days in advance in the fridge, but use ground ginger in place of fresh.
Heat the broiler on high and arrange a rack 6 inches from the heat source.
Lightly grease a sheet pan with some avocado oil. Use tongs or a slotted spoon to transfer the chicken onto the sheet pan in a single layer on one side of the pan.
Place the asparagus on the other side of the pan. Sprinkle ½ teaspoon kosher salt and ¼ teaspoon black pepper on the asparagus.
Pour the marinade all over the chicken and asparagus.
Pop the tray under the broiler and cook for 10 to 12 minutes, stirring at the halfway point. The sheet pan is ready when the chicken is cooked through, the asparagus is nicely browned, and the sauce has thickened slightly.
Garnish with sesame seeds and cilantro if desired and serve with cauliflower rice.