Harvesting cilantro for optimal flavor is a little bit of an art and a science. After all, the age of your cilantro plants, the varieties you choose to grow, and the growing conditions you provide all can contribute to the quality of the leaves, stems, and seed heads you bring into your kitchen. I love to have a steady supply of cilantro in the shoulder seasons (the plants tend to bolt the minute it gets hot!), so I plant lots of seeds for multiple plants from which I can harvest as I need it.
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