Preheat the grill to medium. Soak the skewers in water for at least 30 minutes.
Heat the oil in a small skillet over medium heat, add the garlic and cook, stirring, until just golden, about 1 minute. Add the peanut butter, ketchup, soy sauce and 1/2 cup water and stir until well blended. Remove from the heat, stir in the lime juice and set aside.
Sprinkle the chicken with salt and pepper and thread onto the skewers. Lightly oil the grill grates. Grill the chicken, flipping often, until cooked through, 4 to 6 minutes. Drizzle some of the sauce over the chicken and scatter with cilantro and Fresno chile if using. Serve with the remaining peanut sauce, steamed rice and lime wedges.
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