Whisk together all ingredients, except the chicken, in a mixing bowl. Place the chicken thighs in the marinade and marinate for 2 to 4 hours in the refrigerator. After 2 hours, stir the marinade.
Heat the grill until the coals are gray to white. Remove the chicken from the marinade and drain or shake off the excess marinade. Place on a lightly oiled grill and cook for 5 to 7 minutes on each side.
Continue grilling until the chicken is cooked in the center. Remove the "pupu chicken" to a serving plate and insert wooden picks in each of the cubes. Serve immediately as an appetizer.