Preparation

In a medium bowl combine ¾ cup orange juice, yogurt, garlic and cayenne; mix well. Whisk in oil. Place chicken in a shallow dish. Pour orange juice mixture over chicken; cover and refrigerate 1 to 3 hours.

In a small saucepan combine Orange Marmalade, 2 tablespoons orange juice, rosemary, and salt to taste. Place over medium-low heat and cook until marmalade melts, stirring occasionally.  Cover and keep warm.

Preheat grill to medium (300 to 350 degrees). Remove chicken from marinade. Pour marinade into a small saucepan; bring to boiling over high heat. Boil 3 minutes; remove from heat. 

Place chicken on grill. Grill 6 minutes per side or until an instant-read thermometer registers 165 degrees, turning and basting frequently with the cooked marinade. During the last 3 minutes of grilling, brush chicken with orange–rosemary mixture. Serve warm.

Per serving: 220 calories, 5g fat, 1g saturated fat, 65mg cholesterol, 60mg sodium, 19g carbohydrate, 0g fiber, 18g sugars, 23g protein, 2 percent vitamin A, 10 percent vitamin C, 2 percent calcium, 4 percent iron