I used JSON-C for a work project and would recommend it. Lightweight and is released with open licensing.
Documentation is included in the distribution. You basically have *_add
functions to create JSON objects, equivalent *_put
functions to release their memory, and utility functions that convert types and output objects in string representation.
The licensing allows inclusion with your project. We used it in this way, compiling JSON-C as a static library that is linked in with the main build. That way, we don't have to worry about dependencies (other than installing Xcode).
JSON-C also built for us under OS X (x86 Intel) and Linux (x86 Intel) without incident. If your project needs to be portable, this is a good start.