Heat gas or charcoal grill. Place chicken on grill over medium heat. Cover grill; cook 15 to 20 minutes, turning once or twice, until juice of chicken is clear when center of thickest part is cut (170°F). Add bacon to grill for last 2 to 3 minutes of cooking time to heat. If desired, add buns, cut sides down, for last 4 minutes of grilling or until toasted.