- In a glass dish or a sealable plastic bag, combine the orange juice, beer, oil and vinegar with the brown sugar, salt and spices. Add the chicken and thoroughly coat with the marinade. Cover the dish or seal the bag and refrigerate for 12 hours or overnight. Drain the drumsticks and discard the marinade.
- Preheat the grill, setting the burners to medium-high. Oil the grate.
- Grill the chicken for 25 minutes or until cooked through and the meat pulls easily from the bone, turning the drumsticks a few times during cooking. Grill the orange halves, cut side on the grill. Transfer to a serving platter.
- Squeeze the oranges over the chicken. Garnish with cilantro and serve with yogurt, if desired.