Preheat oven to 450 degrees. Rinse chicken under cold water and pat dry with paper towels. Cut chicken into 1 1/2 inch pieces.
In blender or food processor, blend peanut butter, soy sauce, lime juice, ginger, garlic, cilantro and cayenne pepper until smooth. Taste, and adjust easonings. Coat chicken with peanut sauce marinade and marinate, refrigerated, 30 minutes or longer.
Thread about 5 pieces of chicken on each skewer. Arrange skewers on a greased rack with a tinfoil-lined baking sheet underneath. Bake until fully cooked, turning occasionally, about 7 to 10 minutes. Place under broiler for the last 2 minutes to brown, turning once. Transfer to a serving plate and serve hot.