Preheat the oven to 400°F (200°C).
In a large mixing bowl, combine olive oil, garlic, paprika, salt, and pepper.
Add chicken thighs to the bowl and coat them thoroughly with the marinade.
Place the halved baby potatoes on a sheet pan and pour half of the marinade over them.
Arrange the marinated chicken thighs on top of the potatoes, skin side up.
Bake in the preheated oven for 25 minutes.
While the chicken is baking, prepare the asparagus by tossing it with the remaining marinade.
After 25 minutes, remove the sheet pan from the oven and add the asparagus.
Return the pan to the oven and bake for an additional 20 minutes, or until the chicken reaches an internal temperature of 165°F (75°C).
Garnish with fresh herbs and serve hot.