Wash and drain the dressed chicken and remove the tail gland.
Combine the marinade ingredients in a bowl and stir until the sugar is dissolved.
Get a large transparent plastic bag or zip lock large enough to put the whole chicken. Then put the chicken inside and pour the marinade with the herbs and spices.
Seal the plastic bag by tying the open end into a knot. Turn the bag with the chicken to distribute the marinade all over.
Put in the refrigerator and marinate overnight for best results.
The following day, remove the chicken from the bag and drain in a colander. Reserve the marinade for basting.
Make annato oil by frying the annato seeds in cooking oil until the reddish color appears in the oil. Strain the seeds and mix with 1/2 cup of the marinade. Set aside for basting the chicken later.
Stuff the chicken with the herbs from the marinade and 3 stalks of lemongrass tied into a knot.
Skew the chicken with the skewer if you are going to use a rotisserie. Tie the legs with cooking twine to close the cavity. If not using a rotisserie oven, just put the chicken in a rack on the baking pan.
Put the chicken in the oven and roast it for 30 minutes at 170 degrees Celsius. Then remove from oven and baste with annatto oil mixture.
Put back in the oven and roast it for another 60 minutes depending on the size of your chicken. The bigger the chicken, the longer the cooking time.
When golden brown and cooked, remove from oven and remove the twine. Then serve with dipping sauce combining soy sauce, kalamansi juice and red chili peppers.