How to list Custom Post Type's Taxonomies

functions.php

<?php
    if( $terms = get_terms( array(
        'taxonomy' => 'YOUR_TAXONOMY', 
        'orderby' => 'name'
    ) ) ) : ?>
    <ul class="faq-filter">
        <li><a href="">All</a></li>
        <?php foreach ( $terms as $term ) : ?>
            <li><a id="faq-filter-id-<?php echo $term->term_id; ?>" href=""><?php echo $term->name; ?></a></li>
        <?php endforeach; ?>
    </ul>
    <?php endif;  
?>