Heat grill. Place jelly in small microwave-safe bowl. Microwave on HIGH for 30 seconds. Add cilantro; stir to mix well. Pat ham dry with paper towel.
When ready to grill, place ham slice on gas grill over medium heat or on charcoal grill 4 to 6 inches from medium coals. Brush ham with half of glaze; cook 5 to 7 minutes or until thoroughly heated, turning and brushing with remaining glaze during last 2 minutes of cooking time.