Preheat oven to 300 degrees.
In a medium bowl, mix together all ingredients except the peanuts.
Once the sauce is well combined, pour in the peanuts and toss until the sauce evenly coats each peanut.
Bake for 20 minutes, stirring after 10 minutes. Be sure not to overcook the nuts, they should be light golden brown in color and no longer sticky.
Let cool on the baking sheet for 20 minutes before eating.