Score ham in a diamond design; place in a large heavy-duty, zip-top plastic bag. Combine orange juice concentrate and next 6 ingredients; pour mixture over ham. Seal bag, and shake until ham is well coated. Marinate in refrigerator at least 8 hours, turning bag occasionally.
Remove ham from marinade, reserving marinade. Set aside 1/2 cup marinade; discard remaining marinade. Place ham on a rack in a roasting pan coated with cooking spray; stud with cloves. Insert meat thermometer into ham, if desired; brush lightly with marinade. Cover; bake at 325° for 1 1/2 hours or until thermometer registers 140°, basting occasionally with marinade.
Slice ham into 16 (2-ounce) portions, and place in a labeled airtight container. Store in refrigerator up to 1 week or in freezer up to 3 months. Remove cloves from ham before serving or using in other recipes.