In 1-gallon resealable food-storage plastic bag, mix all ingredients; seal bag. Turn bag to mix. Refrigerate at least 2 hours to marinate.
Heat gas or charcoal grill. Remove chicken from marinade; discard marinade. Place chicken on grill over medium heat. Cook 10 to 12 minutes, turning once, until juice of chicken is clear when center of thickest part is cut (170°F).