In a large bowl, whisk together the yogurt, olive oil, lemon juice, ginger, garlic, garam masala, Kashmiri chili powder, cayenne pepper, turmeric, cumin, paprika, coriander, and salt.
Add the chicken drumsticks and toss well to coat. Cover the bowl and refrigerate for at least 4 hours or overnight for best results.
Preheat your oven to 350°F. Line a baking sheet with foil and place a wire rack on top for better air circulation.
Arrange the marinated chicken on the rack in a single layer. Bake for 20 minutes, then baste the chicken with some of the reserved marinade and bake for another 10 minutes.
Increase the oven temperature to 450°F and bake for an additional 10 minutes until the chicken is lightly charred in spots.
Remove the chicken from the oven and let it rest for 5 minutes. Garnish with chopped fresh cilantro before serving.