Whisk together first six ingredients in a shallow baking dish. Add salmon and toss to coat evenly. Let stand 30 minutes at room temperature (or up to 2 hours in the fridge).
Meanwhile, make peanut sauce by whisking together all ingredients over medium-low heat until smooth.
To grill salmon, preheat grill (or grill pan) over medium-high heat. Thread salmon onto skewers. Grease grates. Grill salmon for 4-5 minutes, or until it releases easily. Flip and cook another 2-3 minutes, until it just turns opaque in the middle.
Serve with peanut sauce.