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1
Place the maple syrup, Dijon, whole-grain mustard, vinegar, and soy sauce in a small, nonreactive bowl and whisk to combine.
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2
Equally divide the sauce between 2 small bowls; set aside 1 bowl for serving and the other for brushing onto the chicken while it cooks on the grill.
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3
Heat a gas or charcoal grill to medium (about 350 degrees F to 450 degrees F).
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4
Meanwhile, if youre using chicken breasts (either boneless or bone-in), cut them in half crosswise.
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5
Pat the chicken pieces dry with paper towels and place on a baking sheet.
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6
Coat them all over with the oil and season with salt and pepper.
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7
When the grill is ready, place the chicken on it (skin-side down if using skin-on), cover the grill, and cook until grill marks appear on the bottom, about 5 minutes.
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8
Flip the chicken pieces over, cover the grill, and cook until grill marks appear on the second side, about 5 minutes more.
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9
Flip the chicken again and generously brush the pieces using the bowl of sauce set aside for that.
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10
Cover the grill and cook for 5 minutes.
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11
Flip and brush the chicken, and continue to flip and brush every 5 minutes, until an instant-read thermometer inserted into the thickest piece reads 160 degrees F to 165 degrees F and the meat near the bone is no longer pink, about 10 to 15 minutes more (about 25 to 30 minutes total cooking time).
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12
Remove the chicken to a clean serving platter and pass the remaining bowl of sauce on the side.
