Blend first 7 ingredients in processor to form paste. Place chicken in 8-inch square baking dish. Spread marinade over, turning to coat. Cover; refrigerate 2 to 4 hours. Heat oil in large nonstick skillet over medium-high heat. Sprinkle chicken with salt. Add chicken to skillet; cook until brown, about 2 minutes per side. Add 1/2 cup tangerine juice to skillet. Cover; reduce heat to medium and simmer until chicken is cooked through, turning once, about 5 minutes. Transfer chicken to plates. Add remaining 1/2 cup juice to skillet; boil until thickened, about 2 minutes. Season to taste with salt and pepper. Spoon sauce over chicken. Sprinkle with cilantro. *Achiote paste is available at Latin markets.