To make chicken, in a large bowl, whisk together first seven ingredient. Add chicken breasts and toss to coat. Cover bowl and marinate for 1 hour and up to 24.
Preheat outdoor grill, stovetop grill, or non-stick skillet.
Skewer chicken pieces onto 4 metal or wooden skewers. Grill or cook skewers in a hot skillet for 5 to 7 minutes, until chicken is cooked through, turning frequently. (Make sure to soak wooden skewers in water for 30 minutes to prevent charring.).
To make sauce, heat oil in a large, high-sided skillet (or wide saucepan) over medium heat. Add remaining minced garlic and jalapeno and cook 1 minute. Add remaining teaspoon of cumin and paprika and stir to coat. Add tomato sauce and evaporated milk, reduce heat to low, and simmer 5 minutes, stirring frequently.
Remove grilled chicken from skewers add to tomato mixture and simmer 1 minute to heat through. Remove from heat and stir into cilantro. Serve with rice.