In a mason jar or large ziplock bag combine the brown sugar, canola oil, soy sauce and white vinegar. Add the chicken to ziplock bag and cover with the marinade. Place in the refrigerator for 1 hour.
Preheat your grill to medium heat. Add chicken and grill, skin side first for 6 minutes. Flip and cook an additional 6 minutes. Continue to turn every six minutes until chicken is done (about 25 minutes total). Remove to a plate and let rest 5 minutes before serving. Sprinkle with cilantro
Notes
The brown sugar tends to darken fast, so keep an eye on flair ups when grilling.You can also make this marinade with chicken breasts. Adjust cooking time as necessary.