Combine milk and saffron in a small microwave-safe bowl, and microwave at high 20 seconds. Let stand 5 minutes.
Combine the milk mixture, Yogurt Cheese, and next 5 ingredients (through pepper) in a large zip-top plastic bag. Add chicken, tossing to coat; seal. Marinate in refrigerator 2 1/2 hours, turning occasionally. Remove chicken from bag, and discard marinade. Divide chicken evenly onto each of 20 (6-inch) skewers. Place skewers on grill rack coated with cooking spray; grill 15 minutes or until cooked through, turning once.