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Pat chicken dry with paper towels and remove neck and giblets from cavity. Season well, inside and out, with salt and pepper. Combine your rub with just enough oil to make a paste and rub over outside of chicken.
Pour out about half of beer (into a glass to enjoy while you cook of course). Add orange juice and garlic cloves to can. Sit chicken upright and place can in cavity. Push chicken down to cover can, with legs sitting out in front to keep upright (or use a beer-can chicken rack).
To grill, heat grill to 400°F and cook chicken over indirect heat until internal temperature reaches 165°F, about 45 minutes to 1 hour. Alternately, sit chicken on a baking sheet lined with foil and bake in a 400°F oven, 45 minutes to 1 hour.
Carefully lay cooked chicken on a serving platter (some beer will spill out – that’s OK) and remove can with tongs. Let rest for 15-20 minutes before carving.