Soak skewers in water. Spear each piece of chicken with a skewer so it is held in place lengthwise.
In a bowl whisk together all the ingredients for the chicken marinade. Pour the marinade over the chicken and cover.
While chicken is marinading, whisk together all the ingredients for the peanut sauce and set aside.
Preheat a grill pan to medium to medium high heat and spray pan with non stick spray. Cook chicken for approximately 2-3 minutes per side before flipping and cooking on the other side. Brush on extra marinade prior to flipping. Cook until the chicken is opaque and cooked through.
Serve immediately with dipping sauce. Garnish with chopped peanuts and cilantro if desired.
Notes
*adjust the Siracha to suit your heat level
**use tamari to keep the recipe gluten free
***To make into a meal serve with romaine lettuce, cucumber slices, bean sprouts, rice noodles and make into lettuce wraps