Coat a medium saucepan with cooking spray; place over medium heat until hot. Add onion and garlic; cook, stirring constantly, 3 minutes or until tender.
Combine cornstarch and next 7 ingredients; stir well. Add to onion mixture; bring to a boil. Cook 3 minutes, stirring frequently. Add peanut butter; cook, stirring constantly, 2 minutes or until peanut butter melts. Use to baste while cooking and/or to serve with chicken or pork.