Heat a small dry skillet over medium and roast the unpeeled garlic, turning occasionally until blackened in spots and soft, about 15 minutes. Cool, then pull off the papery skin from the garlic.
Place the chicken strips between two pieces of plastic wrap and pound to flatten. Thread a wooden skewer through the center of each piece every inch to make sure that the piece is secure. There's no need to soak the skewers since the satays cook so quickly. Place the skewers on a non-reactive rimmmed baking sheet.
Place the garlic in a blender or food processor along with the sugar, chipotles, oil, lime juice and a 1/2 teaspoon salt and process until smooth.
About 15 minutes before you're ready to grill the chicken, brush the marinade over both side of the skewers.
Remove from the marinade and place on a very hot grill or grill pan. Cook for 2 to 3 minutes per side.
Place the skewers on a decorative platter, and serve the chipotle peanut salsa on the side for your guests to enjoy.