30 minutes prior to removing chicken from refrigerator, fill shallow baking dish with warm water. Place bamboo skewers in dish. If needed, place bowl or plate on top of skewers to keep skewers fully submerged. Let skewers soak 30 minutes before using.
After marinating chicken for desired length of time, lightly spray baking sheet with neutral cooking spray and set baking sheet aside. Remove bowl from refrigerator and uncover.
Carefully thread marinated chicken pieces onto soaked bamboo skewers, approximately 5 to 7 pieces per skewer depending on size of chicken pieces. Place filled skewer on baking sheet and repeat until all chicken pieces have been skewered.
When all chicken pieces have been threaded onto skewers, adjust oven racks as needed so that baking sheet will sit approximately 6 to 8 inches below heating element. Turn on broiler and let preheat at least 5 minutes. Note: if your broiler has multiple heat settings, set temperature to HIGH.
Once broiler has preheated, place baking sheet on rack beneath heating element. Broil chicken 2 to 3 minutes, then carefully remove baking sheet and flip skewers over.
Return baking sheet to oven and broil chicken 3 to 4 minutes more, or until chicken is golden and cooked through.
Once chicken is cooked through, carefully remove baking sheet from oven. If desired, sprinkle crushed peanuts onto chicken for additional texture. Set baking sheet aside and let chicken rest 3 to 5 minutes.
After chicken has rested for desired amount of time, transfer skewers to serving platter or plates. Sprinkle chopped fresh cilantro over skewers and serve immediately with reserved peanut sauce.