Lightly spoon flour into a dry measuring cup; level with a knife. Combine flour and next 3 ingredients.
Heat oil in a large nonstick skillet over medium-high heat. Add chicken and onion; sauté 5 minutes or until chicken is beginning to brown.
Sprinkle flour mixture over chicken, stirring until chicken is thoroughly coated. Gradually add milk, stirring until smooth; add carrot. Bring to a boil; cover, reduce heat, and simmer 25 minutes, stirring occasionally.
Stir in peas. Bring to a boil; cover, reduce heat, and simmer 5 minutes. Remove from heat; stir in cilantro, lime juice, and lime rind. Serve immediately over rice.