In shallow glass dish, combine yogurt, lemon juice and oil; blend well. Add all remaining ingredients except chicken breast halves; blend well. Add chicken; turn to coat. Cover; refrigerate 30 to 60 minutes to marinate.
Line 15x10x1-inch baking pan with foil; spray foil with nonstick cooking spray. Remove chicken from marinade; place in foil-lined pan. Discard any marinade.
Broil 4 to 6 inches from heat for 8 to 10 minutes or until chicken is fork-tender and juices run clear, turning once.