Spiced Beef Kabobs with Cucumber-Yogurt Sauce

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Sauce:

1/2 English cucumber, peeled

1/4 cup chopped fresh mint

3/4 cup plain nonfat Greek yogurt, such as Fage 

1 teaspoon lemon zest, from 1 lemon 

1 tablespoon lemon juice, from 1/2 large lemon 

1 tablespoon extra-virgin olive oil 

3/4 teaspoon kosher salt 

Kabobs:

1/2 cup nonfat Greek yogurt, such as Fage

1 tablespoon extra-virgin olive oil 

1 teaspoon lemon zest, from 1 lemon 

1 teaspoon kosher salt, plus more for seasoning

1/2 teaspoon ground cumin 

1/2 teaspoon garam masala 

1/4 teaspoon cayenne

1 pound beef sirloin, cut into 1-inch cubes 

16 grape or cherry tomatoes 

1 large red onion, cut into 1-inch cubes 

Eight 10-inch bamboo skewers, soaked if using an outdoor grill