In a large bowl, mix olive oil, onions, and garlic. Add prawns, tossing them to coat. Leave these to marinate at least three hours in the refrigerator.
Grill prawns for about five minutes, turning once. Arrange neatly on a serving platter. Prawns cook very quickly, so be sure to watch them.
The remaining ingredients will be used as a dipping sauce for the grilled prawns. In a small bowl, whisk the peanut butter, lemon juice, black pepper, and kosher salt and transfer to a serving bowl. Place in the center of your prawn platter where your family or guests will not be able to resist the temptation to dip.
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