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

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). Before cooking, let sit out 15 minutes and pat dry.

3-Grill the chicken: Preheat grill to 400-450°F and oil grates; grill dried chicken 5-6 minutes per side to 165°F, brushing with reserved marinade in last few minutes; rest 5 minutes.

4-Oven bake: 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 if desired, watching closely.

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