1. Prepare grill for medium heat.
2. Combine jelly and garlic in small saucepan; cook over medium heat 2 minutes, or until jelly is completely melted, stirring occasionally. Remove from heat. (Or, combine in small microwavable bowl. Microwave on HIGH 1 minute, or until jelly is melted.) Stir in cilantro. Reserve 1/4 cup jelly mixture; set aside.
3. Grill ham steak 5 minutes; turn over. Brush with half of the remaining jelly mixture; continue grilling 10 minutes, until ham reaches an internal temperature of 160 degrees F when tested in center with meat thermometer, turning ham steak over and brushing with remaining jelly mixture after 5 minutes.
4. Serve with the reserved jelly mixture.