Preheat oven to 375 degrees or bring grill sprayed with nonstick spray to medium-high heat. Sprinkle chicken with curry powder, salt, and black pepper. Evenly cut chicken into 12 strips and thread each strip into a skewer. Place skewers on a baking sheet sprayed with nonstick spray and bake in the oven until chicken is fully cooked, about 10 minutes. If grilling, cook through about 1-2 minutes on each side. Meanwhile, combine soymilk, peanut butter, soy sauce, sugar, garlic, onion, and cayenne pepper in a small nonstick pot. Bring to medium-low heat on the stove. Cook until hot and well mixed, stirring constantly, about 5 minutes. Remove sauce from heat and let cool slightly. Add yogurt and stir until smooth and blended.
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