Preheat outdoor grill over medium heat.
In a large Ziploc bag, place chicken and remaining Two-Step Satay ingredients except for sesame seeds. Squeeze out any air and seal the bag.
Knead bag to fully coat every chicken strip with seasonings. Put in the refrigerator to marinate while making Peanut Sauce.
In a medium bowl, whisk together all Peanut Sauce ingredients until mixed and sweetener is dissolved. If peanut butter is stiff, microwave covered sauce 10–20 seconds until softened and whisk again. Evenly divide sauce among four small bowls.
Divide chicken evenly into eight portions. Thread chicken pieces onto eight skewers.
Cook all skewers on the grill simultaneously 13 to 15 minutes, turning occasionally until golden.
Serve two skewers per plate. Sprinkle with sesame seeds and include a bowl of Peanut Sauce for dipping.