Wash and dry chicken pieces. Mix salt, pepper, onion salt, and paprika and rub into chicken pieces. Heat oil in a heavy skillet over medium heat. Saute the chicken pieces until nicely browned on all sides. Cover; reduce heat and continue cooking about 25 minutes, or until chicken is tender. Remove chicken to platter. Drain fat from skillet, add peanut butter and orange juice to skillet, and stir over low heat until smooth. Bring to a boil. Spoon peanut-orange sauce over chicken.
