Heat grill. In small saucepan, combine all sauce ingredients; mix well.
When ready to grill, place chicken on gas grill over medium heat or on charcoal grill 4 to 6 inches from medium coals. Cook 40 to 50 minutes or until chicken is fork-tender and juices run clear, turning and brushing with sauce frequently during last 15 minutes of cooking. Bring any remaining sauce to a boil; serve with chicken.