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Heat oil in a large heavy skillet over medium heat. Add the onions and cook until golden, about 3 minutes.
Add the crushed ginger, stir for 1 minute then add the garlic and cook another minute. Add cumin, garam masala, turmeric, chili powder, and salt; mix well until fragrant, about 2 minutes.
Stir in tomatoes and milk. Simmer on low heat until sauce thickens, about 10 minutes.
Temper the yogurt: Place the yogurt in a bowl and add ½ cup of the sauce to the yogurt and stir. Add it to the sauce and mix well.
Add chicken and simmer for 10 - 15 minutes or until cooked through.
Add a generous amount of chopped cilantro and serve with Basmati Rice or Naan, if desired.