Sprinkle the chicken evenly with salt, pepper, achiote and cumin powder.
Heat the oil in a saucepan over high heat. Add the onions and cook, stirring occasionally, until softened, about 3 minutes. Stir in the scallions and garlic and cook for about one minute more.
Add the chicken, potatoes, yuca and broth, bring to a boil, then reduce the heat to medium and cook, about 20 minutes.
Add the peas, green beans and carrots to the pan, turn the heat down to medium-low and cook until the chicken and vegetables are cooked, about 10 minutes more. Add fresh cilantro and season with salt and pepper if desired.