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Place chicken in a sealable plastic bag set in a shallow dish. In a small bowl, combine orange zest, 1/2 cup orange juice, oil, rosemary, dry mustard and salt; pour over chicken. Seal bag; turn to coat chicken. Marinate in the refrigerator for 1 to 4 hours, turning bag occasionally.
Meanwhile, for salsa, pit fresh peaches (or nectarines). Coarsely chop peaches (or nectarines). In a medium bowl, combine peaches (or nectarines), bell pepper, green onions, jalapeño, and the remaining 2 tablespoons orange juice. Cover and chill until serving time.
Drain chicken, reserving marinade. Prepare grill for indirect grilling. Test for medium heat above drip pan. Place chicken, bone-sides up, on grill rack over drip pan. Cover and grill for 50 to 60 minutes or until no longer pink (180°F), turning once and brushing with reserved marinade after 25 minutes of grilling. Discard any remaining marinade. Serve chicken with salsa.