Note
Instead of above vegetables, you could make satay from tofu, button mushrooms, paneer (cottage cheese), green, yellow and red capsicum.
You could serve cubed cucumbers too but no need to marinade or grill them. Just thread cubed cucumber onto skewers and serve with the peanut sauce.
Instead of the above marinade, you could marinade the vegetable/tofu/mushroom/paneer with few tablespoons of the peanut sauce for 15 mins. Then grill as above. Serve hot with remaining peanut dip.