Getting flavor into chicken
If you're going to use a rub, i'd recommend rubbing it a day or two before cooking and leave it in the fridge. That lets the flavor set in properly. Also brining as mentioned in the previous answer is a great method of getting flavor into the meat. With chicken, however, I find it's best to create a sauce or gravy to serve it with. Getting flavor actually IN to chicken meat as you're asking is pretty hard, so sauce / gravy is the way to go.