Preheat charcoal or gas grill.
In a small saucepan, heat jelly and garlic over medium heat until jelly is melted, or in a microwave safe bowl, heat in microwave oven at high power until melted, about 1 minute.
Stir in cilantro.
Set aside 1/4 cup of glaze mixture for serving.
Place ham steaks on grill over medium heat.
Grill 3 minutes.
Turn steaks over, brush with half of remaining glaze mixture and continue to grill another 3 minutes.
Turn again, brush with remaining half of glaze mixture and continue to grill 1 to 2 minutes or until ham is glazed and heated through.
Serve with reserved glaze mixture.
