Whisk together all ingredients except chicken in a medium bowl.
Add chicken and refrigerate for 2-4 hours.
Heat grill to medium-high. Remove chicken from marinade and place on hot gill. Cover and grill 6 to 7 minutes for chicken breasts and 7 to 8 minutes for boneless chicken thighs. Flip over and cook another 6 to 7 minutes for breasts and 7 to 8 minutes for thighs.