Place all marinade ingredients into a blender, except 1 ½ tablespoons oil, and blend until smooth.
Reserve ⅓ cup of marinade for peanut sauce. Pour remaining marinade over chicken.
Toss together until all chicken pieces are completely covered. Allow mixture to marinate for at least 4 hours (ideally overnight).
Skewer 5 to 6 cubes of chicken onto each bamboo skewer, until all chicken has been used.
Place a grill pan over medium-high heat (or use an outdoor grill on medium heat setting). Pour oil into pan and grill skewers for 4 minutes, on each side. Repeat until all skewers have been grilled.
Top chicken satay skewers with crushed peanuts and cilantro leaves.
Place all ingredients for peanut sauce into a blender and blend until smooth. (If sauce is too thick, blend some water into the sauce, ½ tablespoon at a time, until desired consistency has been achieved).
Pour mixture into a small bowl or ramekin, top with crushed peanuts (optional) and serve as dipping sauce for satay.
