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1. Stir together 1/4 cup mustard, the apple juice, rosemary, soy sauce, and garlic. Insert meat thermometer near the center of meat.
2. Arrange preheated coals around a drip pan in a covered grill. Test for medium-low heat above pan. Place meat on grill over drip pan. Cover and grill for 1-1/2 to 2 hours or until thermometer registers 160 degrees F for medium to 170 degrees F for well doneness, brushing occasionally with mustard mixture up to the last 5 minutes of grilling. Remove meat from grill and cover with foil. Let stand for 15 minutes before slicing.
3. Meanwhile, toast cut sides of rolls on grill. Remove strings from lamb; slice thinly. Serve on kaiser rolls. Pass additional mustard, if desired. Makes 8 servings.