Preheat the oven to 350F.
Chop cauliflower into florets.
Arrange florets on a baking sheet in a single layer.
Roast cauliflower about 30 minutes. Cauliflower should have slightly browned edges.
In a small bowl, add peanut butter, lime juice, tamari, maple syrup, garlic, sesame oil and almond milk. Use a whisk to combine ingredients. Add more milk or water if your mixture needs thinning out.
Once cauliflower is roasted allow it to cool 5-10 minutes or until it can be handled.
Put 4 florets on each skewer.
Serve hot.