Gather and prepare all ingredients. Spray an 8x10 casserole dish and set it aside.

Add the minced garlic, ginger, lime juice, chili garlic sauce, soy sauce, brown sugar, sesame oil, and vegetable oil to a medium bowl. Whisk together.

Add the peanut butter and hot water, then whisk again until smooth. Roughly chop the cilantro. Save a handful of the cilantro to top the dish after baking, and stir the rest into the peanut sauce.

Set aside 0.5 cup of the peanut sauce, then add the rest to a gallon zip-top bag with the chicken. Press out the air, seal, and massage to coat. Marinate in the refrigerator for at least 30 minutes or up to overnight.

When you're ready to cook the chicken, preheat the oven to 375°F. Place the chicken pieces and all the marinade from the bag in a casserole dish into a single layer.

Bake the chicken in the preheated oven for 15 minutes. Then use a brush to add the reserved peanut sauce to the top of the chicken. Cook for an additional 15 minutes. Make sure the internal temperature of the chicken reaches 165°F.

Fold the chicken pieces and sauce in the bottom of the dish until combined. Top the baked chicken with the reserved cilantro and serve.