Heat gas or charcoal grill. In small bowl, mix garlic, cilantro and salt.
Cut two 12-inch square pieces of heavy-duty foil. Spray each ear of corn generously with cooking spray. Spread garlic mixture over each ear of corn. Wrap each ear of corn in foil piece, sealing edges. Allow space for circulation and expansion.
Cover and grill corn over medium heat 10 to 12 minutes, turning occasionally, until tender.