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Heat a grill to medium heat, (350 degrees F), and rub the grate with a towel dipped in oil. Thread 1 to 2 chicken tenders on each skewer. Grill the chicken until thoroughly cooked, about 2 to 3 minutes per side. Transfer to a serving platter and sprinkle with cilantro and peanuts. Serve hot or at room temperature with the reserved peanut sauce.