Mix chicken, cilantro, breadcrumbs, onion, garlic, salt and pepper; roll into 1-tablespoon balls. In medium skillet, heat oil over medium heat. Add meatballs and cook through, 6 to 8 minutes. Meanwhile, mix remaining ingredients (except peanuts) and warm in microwave. Toss meatballs with half of sauce and sprinkle with peanuts. Serve on toothpicks with remaining sauce for dipping.