Pat the chicken legs dry with paper towels. Set them aside. Add the cilantro, olive oil, tamarind concentrate, chipotle chili paste, Lee Kum Kee Panda Brand Premium Cooking Soy Sauce, paprika, salt, Lee Kum Kee Minced Garlic, and ground black pepper to a bowl. Mix until well combined. Add the chicken legs to the marinade and toss to combine until well coated. Allow the chicken to marinate for at least 1 hour or overnight.
Preheat the oven to 350˚F. Line a baking sheet with foil. Place the chicken legs onto the baking sheet, skin side up. Brush the remaining marinade on top. Bake the chicken in the oven for 35-40 minutes or until fully cooked through.