Combine first 6 ingredients in a saucepan. Cook over medium heat 5 minutes or until thoroughly heated, stirring occasionally.
Prepare grill or broiler. Sprinkle chicken with salt and pepper. Place on a grill rack or broiler pan coated with cooking spray. Cook 10 minutes on each side. Brush chicken with sauce, and cook an additional 15 minutes or until chicken is done, turning and basting frequently.