1-First, gather all ingredients and measure them precisely to keep flavors balanced. In a large mixing bowl, whisk together the olive oil, balsamic vinegar, soy sauce, Worcestershire sauce, lemon juice, brown sugar, dried rosemary, Dijon mustard, salt, ground black pepper, and garlic powder until well combined.

2-Remove 1/2 cup of the marinade and set it aside for basting later. Place the chicken in a large resealable bag and pour the rest of the marinade over it. Gently massage the chicken to coat it evenly, then seal the bag and refrigerate for at least 30 minutes, or up to 24 hours for deeper flavor.

3-Once marinated, it’s time to cook. For grilling, preheat your grill to medium-high heat and lightly oil the grates. Remove the chicken from the marinade, let excess drip off, and grill for 5 to 6 minutes on each side until it reaches 165°F internally. Baste with the reserved marinade for extra flavor, then let it rest for 5 minutes before serving.

4-To bake, preheat your oven to 400°F and place the chicken on a shallow baking sheet. Cook for 18 to 22 minutes until it hits 165°F, basting often. For stovetop cooking, heat a skillet over medium-high heat, lightly grease it, and cook the chicken for 8 to 10 minutes per side until done, then rest for 5 minutes.

5-This process not only infuses flavor but also keeps the chicken tender. Poking holes in the chicken can speed up marination if you’re in a rush.