1Heat gas or charcoal grill. Sprinkle chicken with garlic-pepper blend. In small bowl, stir honey and lime juice with whisk until blended; set aside.
2Place chicken on grill over medium heat. Cover grill; cook 15 to 20 minutes, turning frequently and brushing with honey mixture during last 10 minutes of cooking time, until juice of chicken is clear when thickest part is cut to bone (at least 165°F).
3Remove chicken from grill to serving plate; sprinkle with cilantro. Discard any remaining honey mixture.