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Whisk together the plain yogurt, grated ginger, garlic, paprika, cumin, cinnamon, coriander and cloves.
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Put the chicken thighs in a large dish and season them with the kosher salt and black pepper. Pour the yogurt mixture over them and turn to coat them evenly.
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Cover the dish with plastic wrap and refrigerate the chicken for at least 8 hours - overnight is best.
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Light a charcoal barbeque or heat a gas grill for medium heat. Arrange the grill for indirect heat and lightly oil the grate.
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Remove the thighs from the marinade and lightly wipe off the excess yogurt mixture with paper towels.
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Spray the skin side of the thighs with the cooking spray.
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Working in batches, place the thighs, skin side down, over the high heat area of the grill. Grill for approximately 3 minutes. Turn them over and cook on the other side for about 2 minutes.
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Move the thighs away from the direct heat, close the cover and grill the chicken for 35 to 40 minutes, or until they reach an internal temperature of 180F.