Combine all of the ingredients for the marinade in a food processor or a blender and pulse until smooth.
Cut chicken thigh meat into pieces that are about 1-1.5 inches and cut of excess fat if you wish. Place chicken pieces into a metal or glass mixing bowl.
Pour the marinade into the bowl and mix the chicken with the marinade. Cover the bowl air-tight and refrigerate for 6-12 hours.
Cook the chicken:
Make sure to let the skewers soak in water for 30-45 minutes before cooking.
When ready to cook the chicken, skewer 3-4 pieces onto each skewer. (Exact amount will depend on how big the chicken pieces are and how many skewers you wish to have.) When skewering the chicken, you can gently shake off excess marinade but don't shake it all off or squeeze it off.
Grill chicken skewers for 2-3 minutes per side, turning them 1/4 of the way when that side gets golden brown.
Serve cooked chicken satay skewers with peanut sauce and cucumber slices or a cucumber salad.
Peanut Sauce:
Combine all of the ingredients for the peanut sauce in a small sauce pot. Set the pot over medium to medium-low heat and start to whisk slowly.
Whisk until the sauce is smooth and keep slowly whisking as it heats through to a simmer. As soon as the sauce starts to simmer, take it off heat and serve.