Preheat oven to 400 degrees.
Combine soy sauce, brown sugar, lime zest, and lime juice.
Press garlic into soy sauce mixture and mix well.
Reserve 1/3 cup soy sauce mix for peanut sauce.
Cut chicken into 1 inch pieces; add to remaining soy sauce mixture.
Cover and marinate in refrigerator for 30 minutes.
Place chicken in 9 inch baking pan.
Bake for 18-20 minutes.
Meanwhile, prepare peanut sauce by adding peanut butter and cilantro to 1/3 cup reserved soy sauce mixture.
Whisk until smooth and serve with chicken.