1Heat gas or charcoal grill. In small bowl, mix all ingredients except chicken; brush mixture over chicken.
2Place chicken, bone sides down, on grill over medium heat. Cover grill; cook 15 to 20 minutes. Turn chicken. Cover grill; cook 20 to 40 minutes longer, turning 2 or 3 times, until juice of chicken is clear when thickest part is cut to bone (180°F).