Heat grill. In 12x8-inch (2-quart) glass baking dish, combine all ingredients except chicken; blend well. Place chicken in sauce mixture; turn to coat. Let stand at room temperature for 10 minutes to marinate.
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 occasionally and brushing frequently with sauce. Discard any remaining sauce.