Serve with carrot sticks and dip and kids will love this meal: they can eat everything with their fingers. The simple, sweet glaze for the chicken can be whipped up fast; marinating time is just 15 minutes and the marinade caramelizes deliciously on the grill.
Cut chicken crosswise into 3/4-inch-wide strips. Whisk together mustard, orange-juice concentrate, honey, sesame oil and pepper in a medium bowl until smooth. Add the chicken and toss to combine. Cover and marinate in the refrigerator for 15 minutes.
Meanwhile, preheat grill or broiler. Lightly oil rack or coat with nonstick cooking spray. Remove the chicken strips from the marinade, discarding remaining marinade. Grill or broil until no longer pink in the center, 2 to 3 minutes per side. Season with salt and serve.