Heat the oil in a wok over medium-high to high heat.
Add the chicken and sauté for 3 to 4 minutes, stirring to cook the chicken evenly.
Add the vegetables and cook for 4 to 5 minutes while continuing to stir. Add the satay sauce and stir to distribute it evenly over the vegetables.
Remove the stir-fry from the heat; sprinkle with cilantro and chopped peanuts. Serve as is or over brown basmati rice or rice noodles.