Coat grill rack with nonstick cooking spray. Preheat grill to medium direct heat. Blend garlic, marjoram, thyme, rosemary, salt and pepper in small bowl; set aside. Brush drumsticks with oil; sprinkle or rub evenly with garlic-herb mixture.
Place chicken on grill. Grill, covered, 18 to 22 minutes, or until meat thermometer registers 180°F in thickest part and juices run clear; turn 2 or 3 times to brown evenly.
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