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6 broiler-fryer chicken breasts, halved, skinned, boned
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1/2 cup medium chunky taco sauce
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1/4 cup Dijon mustard
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2 tablespoons fresh lime juice
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2 tablespoons butter
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6 tablespoons plain yogurt, divided
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1 lime, peeled, sliced into 6 segments, membranes removed
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cilantro, chopped, to garnish
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