Mix all ingredients for marinade together in a shallow dish and set aside. Soak wooden skewers in water for 10 minutes and drain.
Cut veal medallion cross wide into 10mm (3/8 inch) slices. Thread veal strips in “S” shapes onto wooden skewers and place them in marinade dish making sure to thoroughly cover meat with marinade. Cover with plastic wrap and transfer to refrigerator. Marinate for 2 hours.
In a bowl, mix all ingredients for peanut butter sauce with a whisk and adjust the consistency with a little chicken broth if necessary.
Grill veal skewers on barbecue or broil in oven [at approx. 10 cm (4 inches) from broiler element] for 5 or 6 minutes, turning only once during cooking time.
Serve immediately with peanut butter sauce.