Preheat a large skillet with 3 tablespoons vegetable oil on medium heat.
Season chicken with a little bit of salt and ½ teaspoon pepper.
Sautee chicken in the preheated skillet until chicken is no longer pink.
Add in the minced garlic and sauté along with the chicken until the garlic is aromatic.
Add in the peanut flour, and mix to coat the chicken with it.
Add in the soy sauce, sugar, water, and milk. Mix until slightly thickened.
Remove from heat and transfer onto a plate.
Serve over rice or pasta along with some sautéed broccoli, green beans, asparagus, or stir-fried vegetables.