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Slice the chicken thighs into long strips about an inch thick so they resemble tenders, season with salt and pepper.
Place chicken in a large bowl or zip top bag.
Add the marinade ingredients to the bowl or bag, except the oil.
Stir the chicken to coat it evenly, then set aside to let marinate.
Prepare the peanut sauce in a bowl, combine and mix all the sauce ingredients until smooth.
Thread the chicken onto wood or metal skewers.
Heat up a grill pan or cast iron skillet over medium high heat and add the oil, and spread it around the pan.
When the oil is hot, add the chicken skewers and cook for 4-5 minutes on each side, until cooked through.
Place the cooked skewers on a platter with peanut sauce, garnish with cilantro, and enjoy!