Put the mango, cilantro, chipotle, vinegar, garlic, lemon juice, 1 tablespoon of oil and salt and pepper, in a food processor and puree until smooth. Adjust seasonings, to taste.

Add the chicken with half the mango mixture to a resealable plastic bag, and massage to coat the chicken with the sauce. Refrigerate at least 6 hours to marinate.

Put the other half of the mango mixture into a small saucepan and simmer over low heat until thick, stirring often, about 15 minutes. Set some of the simmered chipotle-mango sauce aside to serve on the side and baste the chicken every few minutes with the rest of the sauce.

Preheat a grill or grill pan to medium-high heat and brush with canola oil. Remove the chicken from the marinade and put on the grill.

Grill the chicken turning and basting about every 5 minutes until cooked through, about 20 to 25 minutes. Transfer to a serving platter and serve with the reserved mango sauce.