Chicken Skewers with Peanut-Ginger Marinade

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1/2 cup freshly squeezed orange juice

1 orange, zested (about 2 teaspoons)

1/2 cup smooth natural peanut butter

2 tablespoons packed dark brown sugar

1/4 cup light soy sauce

2 teaspoons peeled grated fresh ginger

4 medium cloves garlic, minced

1 teaspoon red pepper flakes

1 1/2 pounds boneless chicken thighs, cut into 1-inch wide strips

Oil, for grill grate

Skewers (soaked in water for 20 minutes if wooden)

1/4 cup roughly chopped fresh cilantro leaves, for serving

1/3 cup roughly chopped roasted, salted peanuts, for serving