1-Make the marinade: Whisk soy sauce, balsamic vinegar, brown sugar, lemon juice, Worcestershire sauce, Dijon mustard, and minced garlic in a medium bowl until sugar dissolves (about 30 seconds); slowly drizzle in olive oil while whisking, then stir in dried herbs and pepper. Optionally reserve 1/4 cup before using on chicken and boil it 3 minutes after cooking.

2-Marinate the chicken: Place 6 chicken breasts in zip-top bag or glass dish, pour marinade over, seal and massage to coat evenly; refrigerate 4-8 hours (minimum 30 minutes, maximum 24 hours). Let chicken sit out 15 minutes and pat dry with paper towels before cooking.

3-Grill the chicken: Preheat grill to medium-high (400-450°F), oil grates with tongs and paper towel; grill dried chicken 5-6 minutes per side to 165°F internal temperature. Brush with reserved marinade in last few minutes, then rest 5 minutes before slicing.

4-Oven-bake alternative: Preheat oven to 400°F and line baking sheet; arrange dry chicken in single layer and bake 20-25 minutes, flipping halfway, to 165°F. Broil last 2-3 minutes for caramelization, watching closely to avoid burning.

5-Pan-sear alternative: Heat cast iron skillet over medium-high with 1 tablespoon oil; sear dry chicken 6-7 minutes per side to 165°F.