Heat gas or charcoal grill. Remove chicken from marinade; reserve marinade. Place chicken, bone sides down, on grill. Cover grill; cook over medium heat 10 to 20 minutes. Turn chicken; cover grill. Cook 15 to 20 minutes longer, turning and brushing 2 or 3 times with marinade, until juice of chicken is clear when thickest part is cut to bone (170°F).