Heat grill. Sprinkle chicken with salt and pepper. In small bowl, combine all remaining ingredients; mix well. Set aside.
When ready to grill, place chicken on gas grill over medium heat or on charcoal grill 4 to 6 inches from medium coals. Cook 15 to 20 minutes or until chicken is fork-tender and juices run clear, turning once and brushing with teriyaki-apricot mixture during last 5 minutes of cooking time.