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.
Preheat oven to 325°.
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 by pushing the long clove ends into the scored intersections in the ham. Insert a meat thermometer into ham, if desired; brush ham lightly with reserved marinade. Cover; bake at 325° for 1 1/2 hours or until thermometer registers 140°, basting occasionally with marinade. Serve warm or chilled.