I personally think API design should be done by someone who has background in both UX and engineering. Even though you know your audience is going to technical, you'll eventually have people across the spectrum from noobs to pros using your APIs.
I find that the best engineers (indeed the best people in any role) are the best communicators, who are constantly aware of the many audiences that they are communicating with and are always weighing these many different needs. A good engineer is an ambassador between the technical and non-technical.