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Peel and dice 1 mango and add to a food processor or blender with the Greek yogurt. Blend until pureed.
Transfer half the puree to a large zip-top bag and add the chicken thighs. Marinate for 1 hour at room temperature or 6-8 hours in the refrigerator.
Reserve the remaining half of the mango-yogurt puree in a lidded container as necessary.
Preheat the oven to 375. Place a wire cooling rack on a rimmed baking sheet where it will fit snugly.
Place the marinated chicken on the prepared rack, shaking gently to remove excess marinade. Bake for 20 minutes or until the chicken is golden brown and just cooked through.
While the chicken bakes, peel and dice the remaining mango.
Top the baked chicken with the reserved mango-yogurt puree, diced mango, and cilantro. Sprinkle with freshly ground black pepper to taste.