Combine first 7 ingredients in a saucepan over medium heat; simmer, uncovered, 6 minutes or until sauce measures 1/3 cup, stirring occasionally.
Prepare grill.
Place chicken on grill rack coated with cooking spray. Cover and grill 35 minutes or until done, turning every 10 minutes. Baste chicken with sauce, and grill, uncovered, 5 minutes.