1 cup plain whole-milk yogurt, 1 tablespoon lemon or lime juice, 1 tablespoon extra-virgin olive oil, 1 teaspoon mild chili powder, ½ teaspoon garlic powder, ½ teaspoon table salt
In a medium bowl, whisk together the yogurt, lemon or lime juice, oil, chili powder, garlic powder, and salt. Spoon half of the yogurt sauce into a small serving bowl, cover, and transfer to the refrigerator.
Cooking spray, 2 pounds boneless, skinless chicken thighs, trimmed
Spray a 9-by-13-inch baking dish with cooking spray. Pour the rest of the sauce into the greased baking dish. Add the chicken thighs and use a rubber spatula to thoroughly coat the chicken with the yogurt sauce. Spread the pieces into an even layer. Cover the dish and refrigerate for at least 30 minutes and up to 2 hours.
Near the end of the marinating time, set your oven rack to the middle position and heat the oven to 375 degrees.
Uncover the dish and bake in the preheated oven until the chicken is golden brown, about 1 hour.
Use oven mitts to remove the baking dish from the oven and place it on the stovetop or a cooling rack. Let cool slightly, about 5 minutes.
Chopped parsley, basil, or cilantro
Use tongs to transfer the chicken to a serving platter. Drizzle with the yogurt sauce that you set aside in step 1. Sprinkle with herbs (if using) and serve.