Whisk together oil, soy sauce, brown sugar, orange juice concentrate and mustard in medium bowl. Place chicken in a shallow glass dish or large heavy plastic bag. Pour marinade over chicken; cover dish or close bag. Marinate in refrigerator at least 2 hours, turning several times. Remove chicken from marinade; discard marinade. Season chicken with salt and pepper.
Oil hot grid to help prevent sticking. Grill chicken, on a covered grill, over medium briquets, 4 to 7 minutes, turning once or twice.. Chicken is done when meat is no longer pink in center.
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