Preheat oven to 400 degrees.
Place jelly and garlic in a small microwave-safe bowl. Microwave on high for 45 seconds or until jelly melts, stirring after 30 seconds.
Combine cream cheese and cilantro in another bowl. Note: I used a wedge of Laughing Cow cheese in place of the cream cheese.
Cut a horizontal slit through chicken portion of each chicken breast half to form a pocket. Stuff about 2 Tbsp. cheese mixture in each pocket. Close openings with wooden picks. Sprinkle chicken with salt and pepper. Note: I used thinly sliced chicken breasts and just rolled the chicken up, as opposed to cutting the slit.
Heat a 12-inch cast-iron skillet over medium high heat. Coat pan with cooking spray. Add chicken to pan, skinned sides down. Cook 4 minutes.
Turn chicken over; brush with jelly mixture.
Place pan in oven. Bake at 400 degrees for 15 minutes or until done, basting with jelly mixture in skillet after 7 minutes. Remove pan from oven and remove chicken from the pan. Add 2 Tbsp. water to pan, stirring with a whisk to deglaze pan.
Remove and discard wooden picks. Place chicken on serving plates. Spoon pan sauce over chicken.