1. Prepare grill.
2. Combine 1 teaspoon mustard, oil, and next 3 ingredients in a small bowl; brush evenly over chicken. Place chicken on grill rack coated with cooking spray; grill 6 minutes on each side or until done.
3. While chicken grills, combine 1 tablespoon mustard, mayonnaise, and 1 tablespoon water in a bowl. Serve mustard cream with grilled chicken. Garnish with rosemary sprigs, if desired.
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