CHICKEN MARINADE: In a blender, combine all the ingredients except the chicken. Pulse the blender until the shallot, cilantro, and garlic break down into a sauce-like consistency. Add the chicken pieces into a gallon-sized zip-top bag and pour the prepared marinade over the chicken. Zip bag and squish to coat the chicken evenly. Place the zip-top bag on a plate and refrigerate for at least 20 minutes but ideally 3-8 hours.
PEANUT DIPPING SAUCE: Add all the ingredients for the peanut dipping sauce in a medium bowl and use a whisk to combine. If your peanut sauce is thick, you can add 1 tablespoon of hot water at a time to help thin it to desired consistency. Taste and adjust with more soy, brown sugar, or lime juice as desired.
SKEWER: Preheat the grill on medium-high heat for 5-10 minutes, scrub, and oil the grates. Meanwhile, remove the chicken pieces from the marinade and place the chicken (like an accordion) on skewers. Pierce the chicken with the skewer and zig-zag the chicken through the skewers making sure to secure both ends on the stick.
COOK: Place the chicken on the hot grill, cover, and cook for 4-7 minutes, flipping halfway through. The chicken is cooked through when it is slightly firm to the touch or registers 165ºF on a thermometer. Remove, the chicken and serve immediately with the peanut dipping sauce as an appetizer or over coconut rice for a full meal.