In 4-quart saucepan or Dutch oven, heat oil over medium heat. Cook chicken, onion and garlic 5 to 7 minutes, stirring occasionally, until chicken is no longer pink.
Stir in remaining ingredients, except cilantro and yogurt. Heat to boiling. Reduce heat; cover and simmer 10 minutes, stirring occasionally.
Remove from heat; stir in cilantro and yogurt. Serve with additional yogurt and chopped cilantro, if desired.