Pollo Asado can be baked in the oven instead of on the grill. After the chicken marinates, remove it from the marinade letting the excess drip off. Place it in a baking dish, making sure it is in a single layer. Bake at 425 degrees for about 20 minutes or until chicken is cooked to 165 degrees. Tent it with aluminum foil and let rest for 10 minutes.
It can also be cooked in a heavy cast-iron skillet. Once the pan is hot, add a touch of oil. Then cook the chicken for 4-5 minutes per side. Make sure to cook the chicken in a single layer, not overcrowding the pan.