In a small, whisk together marinade ingredients. Combine with chicken thighs in a covered baking dish or resealable bag. Marinate in the fridge for at least 1 hour or up to overnight.
When chicken has marinated, preheat oven to 375°.
On a rimmed sheet pan, add broccoli florets and baby carrots. Drizzle with olive oil and sprinkle with 1/2 tsp coarse sea salt. Toss to coat.
Nestle marinated chicken, skin side up, with broccoli and carrots.
Roast for 30 minutes or until chicken reaches internal temperature of 165°.
Turn oven to broil and cook for 3-5 minutes then remove from oven. Allow chicken to rest for 3-5 minutes.
While chicken is resting, make the peanut sauce. Whisk all ingredients together in a small bowl. Taste for seasoning and adjust to your preference.
Serve topped with peanut sauce alongside, rice or cauli rice if desired.
