Mix canola oil, lemon zest, lemon juice, Dijon mustard, honey, garlic, Worcestershire sauce, Italian herb seasoning, salt, and black pepper in a bowl; pour into a resealable plastic bag.
Place chicken breasts into the bag, seal, and squeeze bag with your fingers several times to coat chicken with marinade.
Place a second resealable bag over the first and seal to prevent leaks.
Refrigerate chicken for 2 to 4 hours.
Preheat grill for medium heat and lightly oil the grate.
Remove chicken breasts from bag; discard used marinade.
Cook chicken on the preheated grill until the center is no longer pink and the juices run clear, 7 to 8 minutes per side.
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