Combine the first 4 ingredients in a large zip-top plastic bag. Add chicken, seal bag, and marinate in refrigerator 8 hours, turning occasionally. In a food processor, add the red peppers and the next 7 ingredients. Process until smooth.
Pour into a saucepan, cook until tender. Remove chicken from the bag, reserving marinade. Coat the grill rack with cooking spray; place on grill over medium hot coals. Place chicken on rack, cook 10 minutes each side or until chicken is done, basting occasionally with reserved marinade. Serve the chicken with a 1/4 cup of the bean sauce on top, garnish with cilantro sprigs.