First, make the marinade for the chicken. Stir together ¼ cup coconut or almond milk, garlic, 3 tbsp light brown sugar, salt, and pepper until the sugar has dissolved. Toss marinade with chicken, cover and marinade for at least 2 hours. (You can always meal prep this step)
Preheat oven to 375° and spray a pan with cooking spray. Line chicken on a pan and bake for 25 min. If grilling, heat a grill to medium-high heat and grill chicken until cooked through or inside temp reads 160°.
Meanwhile, for the peanut butter sauce, bring 1 cup of coconut or almond milk, peanut butter, chicken stock, and ½ cup coconut sugar to a simmer in a saucepan over medium-high heat. Simmer for 5 minutes, stirring occasionally, until smooth. Stir in lime juice and coconut aminos.
Once chicken and peanut butter sauce are done, plate the chicken first and top with the sauce.