If desired, remove skin from chicken. Rinse chicken and pat dry with paper towels. Stir together garlic, marjoram, mustard, salt, and pepper; rub mixture into chicken pieces. Combine honey and vinegar; lightly brush over entire surface of chicken pieces. Cover and chill at least 2 hours
In a grill with a cover, arrange medium-hot coals around a drip pan. Test for medium heat above the pan. Place chicken pieces, bone side down, on the grill rack over the drip pan but not over the coals. Cover and grill for 50 to 60 minutes or till chicken is tender and no longer pink. If desired, serve chicken atop torn mixed greens. Makes 4 servings.