Spray grill rack with cooking spray or brush with oil. Heat coals or gas grill for medium-high heat. (To test heat for cooking, place your hand, palm side down, about 1 inch from grill rack. Count “one-one thousand, two-one thousand, three-one thousand.” When you have to remove your hand at “three,” you have reached medium-high heat and are ready to cook.) Grill chicken uncovered 4 to 5 minutes per side or until juice of chicken is clear when center of thickest part is cut (170°F).