1. Combine first 5 ingredients in a small saucepan. Cook over medium heat until jelly melts, stirring constantly.
2. Preheat grill.
3. Sprinkle both sides of pork with pepper and salt. Coat grill rack with cooking spray; place on grill over medium-hot coals (350° to 400°). Place pork on rack; brush with jelly mixture. Grill, covered, 5 minutes on each side or until done, basting frequently with jelly mixture.