1. Combine first 5 ingredients in a small bowl, stirring well until blended.
2. Prepare grill for indirect grilling. If using a gas grill, heat one side to medium-high and leave one side with no heat. If using a charcoal grill, arrange hot coals on one side of charcoal grate, leaving the other side empty.
3. Let chicken stand at room temperature for 30 minutes. Sprinkle chicken evenly with salt and pepper. Place chicken, meaty sides down, on grill rack coated with cooking spray over direct heat; grill 5 minutes or until browned.
4. Turn chicken over; baste with hoisin mixture. Grill 5 minutes over direct heat or until browned. Turn chicken over, moving it over indirect heat; baste with hoisin mixture. Cover and cook 15 minutes. Turn chicken over; baste with hoisin mixture. Cook 20 minutes or until done.