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Preheat the oven to 425˚F (220˚C). Line a rimmed baking sheet with foil and place a wire rack on top.
In a small bowl, whisk together the paprika, garlic granules, onion granules, dried parsley, black pepper, cumin, and oregano.
Drizzle the olive oil over the chicken thighs and rub it in well. Season with salt, then coat each piece evenly with the spice blend, working it under the skin where possible.
Place the chicken skin-side up on the wire rack. Bake for 25 minutes, until the spice crust is set and the chicken is turning golden.
While the chicken bakes, whisk together the mango pulp, tamarind paste, honey, ginger, soy sauce, brown sugar, red chile flakes, salt, and the sesame seeds in a medium bowl until smooth.
Remove the chicken from the oven and brush each piece with the glaze. Return to the oven for 10 minutes.
Remove the chicken from the oven again. Flip each piece and brush the glaze onto the underside, then flip back skin-side up and brush the tops heavily with more glaze. Return to the oven for a final 10 minutes, until the glaze is sticky, caramelized, and the chicken reaches an internal temperature of 165˚F (75˚C).
Let the chicken rest for 5 minutes. Garnish with fresh cilantro and serve with lime wedges.