Prepare grill or heat broiler.
To make peanut-sesame sauce, in 1-quart saucepan, combine all ingredients except chicken. Bring to a boil over medium heat, stirring constantly, 1 minute. Reduce heat to low; simmer, stirring frequently, 1 minute longer.
Grill or broil chicken, turning and brushing occasionally with 1/2 cup peanut-sesame sauce, 12 minutes or until chicken is thoroughly cooked. Serve with remaining sauce.
This recipe is recommended for 4 servings.