Preheat grill over medium high heat. Spray 4 pieces of foil with cooking spray. Wash and dry corn and place each cob on a piece of foil. Season with salt and pepper. Wrap corn in foil and grill until corn is tender, rotating it as it cooks. Cook corn to your liking, (generally about 1-2 minutes on each of the four sides).
While corn is grilling, place everything for the sauce in a small bowl, and stir to combine. When corn is done cooking, spread the sauce evenly over each piece of corn. Top with additional cheese and cilantro if desired. Serve warm.