Prepare the satay marinade paste: In a food processor, combine shallots, lemongrass, galangal, turmeric powder, coriander powder, cumin powder, fennel powder, sugar, salt, and vegetable oil (for marinade). Blend until a smooth paste forms.
Marinate the meat: In separate bowls, add the chicken pieces and beef pieces. Divide the marinade paste evenly between them, ensuring each piece is well coated. Cover and refrigerate for at least 2 hours, or preferably overnight.
Skewer the meat: Thread the marinated chicken and beef pieces onto the pre-soaked wooden skewers. Aim for 3-4 pieces per skewer, alternating meat types if desired.
Prepare the satay sauce paste: In a food processor, combine roasted peanuts, shallots (for sauce), garlic, red chillies, lemongrass (for sauce), and galangal (for sauce). Blend until a coarse paste forms, adding a little water if needed.
Cook the satay sauce: Heat vegetable oil (for sauce) in a saucepan over medium heat. Add the satay sauce paste and sauté for 5-7 minutes until fragrant. Add the strained tamarind paste, palm sugar, salt (for sauce), and water. Bring to a simmer, then reduce heat and cook for 10-15 minutes, stirring occasionally, until the sauce thickens and oil separates slightly. Adjust seasoning to taste.
Grill the satay: Preheat a grill or grill pan to medium-high heat. Grill the chicken and beef satay skewers for 3-5 minutes per side, or until cooked through and slightly charred. Brush with a little extra vegetable oil or leftover marinade during grilling to keep them moist.
Serve: Arrange the grilled satay on a platter and serve immediately with the warm peanut sauce. Optionally, garnish with sliced cucumbers and red onions.
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