For sauce, mix honey, orange peel, orange juice, mustard, garlic, salt, and pepper.
Grill chicken, skin side up, on an uncovered grill directly over medium coals for 35 to 45 minutes or until chicken is no longer pink. Turn chicken over after half of the grilling time. Brush often with the sauce during the last 10 minutes.
Bring remaining sauce to a boil; serve with chicken. Makes 4 servings.