Preheat oven to 350 degrees.Note: Use the roast setting if you have that feature on your oven. Cook-time is similar if you use the regular bake setting. In a small bowl, add the crushed garlic, cilantro, chili powder, coriander, salt, black pepper, lemon zest and juice and sesame oil. Use a spoon to mix ingredients together to form a loose paste.
Rinse the chicken and pat dry with paper towels. Place the chicken in a deep roasting dish or roasting pan.
In a medium bowl, add the sliced onions and whole jalapeños. Season with one teaspoon of the chili seasoning paste.
Use the remaining seasoning to coat the chicken. Use your fingers to gently loosen the skin of the chicken. Rub some of the seasoning under the breast skin and inside the chicken cavity. Rub the remaining seasoning all over the outside of the chicken. Spread the onions and jalapeños around the chicken.
Cover the chicken tightly with aluminum foil. Place in the oven and bake for 1 hour and 15 minutes. Remove the foil cover. Use a spoon, baster or a small ladle to pour some of the gravy over the chicken. Continue baking, uncovered, for 15 minutes until lightly browned.
Remove from the oven, allow to sit for 15 minutes before carving the chicken. Plate and serve.