Preheat grill to 350 to 400 (medium-high) heat. Coat a grill tray or basket with cooking spray, and place on grill.
Heat, covered with grill lid, 10 minutes.
Meanwhile, combine cilantro and next 4 ingredients.
Sprinkle fish with salt and pepper.
Place fish on hot grill tray. Grill fish, covered with grill lid, 6 to 8 minutes on each side or until fish flakes with a fork, spreading fish with cilantro mixture during the last 2 minutes of grilling.
Serve fish with Mango Relish.
*Amberjack, tilapia, or mahi-mahi may be substituted.