Prepare a charcoal grill. Let the coals cook down until they are hot and there are no flames, 25 to 30 minutes. Carefully move the coals to the outside perimeter of the grill to create a "ring." Place a drip pan in the center of the coals. Place the grill grate on the grill.
Sprinkle the chicken with salt and pepper and place on top of the beer can so the beer can is inside of the chicken cavity. Stand the chicken and beer can in the center of the grill over the drip pan. Cover and cook until the chicken is cooked through and the juices run clear, 45 minutes to 1 hour.