Whisk together all marinade ingredients. Add mixture to a large ziplock bag. Place chopped chicken pieces inside, squeeze out excess air, seal and chill for at least 30 minutes or overnight (the longer the better!)
When ready to prepare the kabobs, preheat the grill to medium heat and drain marinade from the plastic bag. Thread chicken, peppers, pineapple, and onions onto skewers.
Grill kabobs for about 10 minutes, rotating periodically to ensure even cooking, until chicken is cooked through. Sprinkle with fresh cilantro and serve immediately.