Soak wooden skewers in water for 20 minutes. Weave the chicken onto the skewers, season with salt and pepper, and set aside.
In a saucepan, add the peanut butter, broth, water, soy sauce, garlic, lemon juice, brown sugar, ginger, and cayenne pepper. Cook, stirring, until smooth.
Spray a grill pan with cooking spray (indoors). Place the skewers on it and brush with the peanut butter sauce. Cook for 5-7 minutes on one side until browned, then turn, brush once again with the sauce, and cook for another 5-7 minutes until the meat is cooked through. Serve sprinkled with cilantro alongside the sauce.
In a small bowl, combine together all the sauce ingredients and stir well. Season with salt and pepper to taste.
Adapted from Quick-Fix Gluten Free by Robert Landolphi