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In a large bowl or Ziploc bag, whisk together all ingredients for the chicken marinade (except the garnishes). Add the chicken and toss to coat. Cover the bowl/seal the bag and marinate for at least 30 minutes up to over night.
In a medium size bowl, whisk all ingredients for the peanut sauce until completely smooth. You can also use a food processor or blender for ultimate smoothness if desired. Chill until ready to serve.
Preheat oven to 400˚F. Grease a baking sheet or prepare with parchment paper.
In a large bowl, toss all ingredients for the veggies together (except garnishes).
Place marinated chicken and tossed veggies on the prepared baking sheet in an even layer. Bake for 30 minutes, until veggies are tender and chicken reaches an internal temperature 165˚F.
Remove from heat. Drizzle with peanut sauce and garnish with green onion, cilantro, and sesame seeds. Enjoy with more peanut sauce and jasmine rice or noodles as desired.