Add the roasted peanuts and toasted sesame seeds to the mini processor.
½ cup peanuts
Pulse the peanuts and sesame seeds until ground to the coarseness you prefer.
2 tablespoon sesame seeds
In a small pot, add the coconut milk, chili paste, brown sugar, hoisin sauce (or fish sauce), chili paste, soy sauce, and balsamic vinegar to a low simmer over medium heat for 5 minutes (it will thicken a little).
14 oz coconut milk, 1 tablespoon chili paste, 2 tablespoon brown sugar, 2 tablespoon Hoisin sauce, 3 tablespoon soy sauce, 1 tablespoon balsamic vinegar
Bring peanut sauce to a low simmer over medium heat for 5 minutes (it will thicken a little).
Stir in the ground peanut and sesame seed mixture. If using peanut butter, add it to the sauce pan now.
Reduce heat and simmer the peanut dipping sauce on medium heat for a few minutes until the peanut sauce has thickened to a dip consistency.
Baste the chicken on both sides and refrigerate for at least 30 minutes to 2 hours.
4 chicken leg quarters
Place the marinated chicken leg quarters on the grill, set at 350 degrees Fahrenheit. Cook on each side for 8 to 10 minutes, lowering heat if they are charring too quickly.
Check the internal temperature in the thickest portion of the thighs to ensure they each reach a minimum of 165 degrees Fahrenheit. Transfer to a platter and let rest 10 minutes before serving.