Combine first 4 ingredients in a medium saucepan; bring to a boil. Reduce heat; simmer 5 minutes. Combine vinegar and cornstarch in a small bowl. Add cornstarch mixture to pan; bring to a boil. Cook 1 minute, stirring constantly. Let stand 5 minutes. Stir in cilantro and rind.
Thread 5 chicken cubes, 3 mango cubes, and 3 pineapple cubes alternately onto each of 6 (12-inch) skewers. Brush kebabs with oil; sprinkle with salt. Place kebabs on grill rack coated with cooking spray; cook for 4 minutes. Turn kebabs; brush with half of glaze. Cook 4 minutes. Turn kebabs; brush with remaining glaze. Cook 2 minutes, turning once.