Grilled Chicken Thighs with Spicy Peanut Lime Sauce

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6 skin-on, bone-in chicken thighs (about 3 pounds total; or substitute chicken wings)

Grapeseed oil, for drizzling

Kosher salt and freshly ground black pepper

2 medium limes, zested and juiced

1/4 cup creamy peanut butter

2 tablespoons Asian chile paste, such as sambal oelek

2 tablespoons honey

1 tablespoon tamari

2 to 3 scallions, thinly sliced on a bias

1/3 cup roughly chopped and packed cilantro leaves

1/4 cup lightly salted dry roasted peanuts, roughly chopped