Mix together balsamic vinegar, olive oil, honey, minced garlic, Dijon mustard, and lemon juice in a medium bowl. Add oregano, basil, smoked paprika, salt, and black pepper, whisking until well combined.

Place the chicken in a large resealable plastic bag or a shallow dish. Pour the marinade over the chicken, making sure all pieces are well-coated.

Seal the bag or cover the dish and refrigerate for at least 2 hours. For deeper flavor, marinate the chicken for 4-6 hours or overnight.

Heat a stove-top grill pan over medium-high heat. Lightly oil the pan to prevent sticking.

Take the chicken out of the marinade, letting the excess drip off, and set aside the remaining marinade for basting.

Place the chicken on the hot grill pan. Cook for 6-7 minutes on one side without disturbing it to get good grill marks. Flip the chicken and cook for another 6-7 minutes, or until the internal temperature reaches 165°F (74°C).

During the last few minutes of cooking, you can brush the chicken with a little of the reserved marinade for extra flavor. Avoid basting in the final 2 minutes of cooking.

Remove the chicken from the pan and transfer to a plate. Cover with foil and rest for 5 minutes before serving. Serve and enjoy!