In a small bowl, whisk together the soy sauce, peanut butter, rice vinegar, lime juice, sesame oil, honey, ginger, garlic, crushed red pepper, salt and pepper until combined.
Reserve a couple of tablespoons of the mixture and pour the rest over top of chicken until completely coated. Seal the bag and marinate chicken in the fridge for at least 30 minutes or overnight.
Make the peanut sauce now by whisking together all of the ingredients in a medium bowl. Set aside until ready to serve.
If using wooden skewers, make sure to let them soak in warm water for 30 minutes to an hour to prevent them from charing on the grill. Thread five pieces of chicken onto the skewers and preheat the grill or grill pan on medium-high heat, making sure to spray the grill grates with non-stick spray to prevent the chicken from sticking.
Place the chicken skewers on the grill and cook them for about 5 to 6 minutes on each side, brushing with the reserved marinade, until the chicken is cooked through. The internal temp should read 165 F with a meat thermometer.
Top with chopped cilantro and green onions, if desired, and drizzle on peanut sauce.