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In a medium bowl whisk together all marinade ingredients.
Add chicken, toss to coat. Cover and chill for 1 hour.
While chicken is marinating, prepare the peanut sauce by combining all ingredients and stirring well. Set aside.
Skewer the chicken and grill over medium heat for 6-8 minutes, turning throughout to ensure even cooking OR bake on a sheet pan at 375 degrees for 15-18 minutes until cooked through.
Serve warm with peanut sauce for dipping. Enjoy!