Prepare the Marinade: Add all ingredients except the chicken in a small bowl and whisk them together until well combined.
Marinate the Chicken: Place the chicken in a large ziploc bag or baking dish, pour in the marinade, close the bag tightly, and massage it to coat thoroughly before refrigerating it for 2 to 6 hours.
Preheat the Grill: Preheat your grill to high heat for direct cooking and grease the grates with vegetable oil using a paper towel soaked in oil.
Grill the Chicken: Remove the chicken from the marinade and let any excess liquid drip off before placing it skin side down on the grill over direct heat.
Cook Thoroughly: Grill each side of the chicken for about 5-7 minutes with the lid closed until crispy and golden brown while ensuring it reaches an internal temperature of 165°F.
Serve with Accompaniments: Serve your delicious pollo asado alongside warm corn or flour tortillas and some flavorful Mexican rice for a complete meal experience.