Stir together first 6 ingredients; set aside. Drain tomatoes, and press between layers of paper towels; chop tomatoes.
Remove and discard giblets from chicken. Rinse chicken with cold water, and pat dry. Rub herb mixture evenly over chicken and inside cavity. Loosen skin from breast without detaching it; carefully insert chopped tomato, garlic, and cilantro. Tuck wingtips under bird; tie legs, if desired. Place bird, breast side up, on a rack coated with cooking spray; place rack in a roasting pan.
Bake at 350° for 1 hour or until done. Remove skin before serving.
Per 3-ounce serving without skin: Drumstick meat, Calories 132, Fat 3g, Cholesterol 79mg; Thigh meat, Calories 150, Fat 7g, Cholesterol 81mg.