In a shallow dish or medium-sized bowl, mix together the honey, mustard and Worcestershire sauce. Remove and set aside approximately ¼ cup of the mixture to use as a basting sauce. Add chicken breasts to remaining sauce and stir to coat.

Allow chicken to marinate for at least 45 minutes while grill preheats or up to overnight. Once grill is hot, turn off burners on one side if using a gas grill. If using a charcoal grill, move all coals to one side.

Lightly oil grill grates on the side without heat directly underneath. Remove chicken from marinade, allowing as much as possible to cling to chicken and place on the oiled grates over the indirect heat of grill.

Grill chicken 14–18 minutes, turning once halfway through. After turning, baste cooked side with reserved sauce. Remove from grill when chicken is cooked through and reaches an internal temperature of 165 degrees in the thickest part. Allow chicken to rest 5 minutes and spoon any remaining sauce over chicken. Serve and enjoy.