Place a pot over medium heat and coat with the oil. Add the onion and garlic, stirring to soften for 5 minutes. Add the chipotle with adobo, raisins, and tomatoes, stirring to combine. Bring to a simmer and cook for 10 minutes.
Carefully pour the mixture into a blender. Add the peanut butter, broth, chili powder, and cinnamon. Puree the mixture until smooth. Season with salt and pepper.
Return the mixture to the pot over medium heat. Cook for 15 minutes, stirring occasionally. Add the chocolate and stir until melted. Add the shredded chicken and heat through.
Transfer the mole to a serving dish and garnish with peanuts, sesame seeds, and orange zest. Serve with cilantro, lime, avocado, and tortillas.