For sauce, in a small saucepan combine apple juice, jelly, cornstarch, and salt.
Cook and stir till mixture boils.
Cook and stir 2 minutes more.
Stir in marjoram.
Skin chicken, if desired.
Rinse chicken; pat dry with paper towels.
Grill chicken, bone side up, on an uncovered grill directly over medium coals for 15 minutes.
Turn chicken and brush with sauce; grill for 20 to 30 minutes more or till chicken is tender and no longer pink.
Brush with additional sauce before serving.