In a medium bowl, whisk together Dijon, shallot, honey, olive oil, rosemary, lemon juice, 1 teaspoon salt and 1/2 teaspoon pepper; set aside 1/2 of the mixture in the refrigerator until ready to serve.
In a gallon size Ziploc bag or large bowl, combine chicken and Dijon mixture; marinate for at least 2 hours to overnight, up to 8 hours, turning the bag occasionally. Drain the chicken from the marinade.
Preheat grill to medium heat.
Brush chicken with canola oil; season with salt and pepper, to taste. Add chicken to grill, and cook, turning occasionally, until chicken is completely cooked through, reaching an internal temperature of 165 degrees F, about 8 minutes.
Brush with reserved Dijon mixture, cooking for an additional 1-2 minutes.
Serve immediately.
Notes
An outdoor grill is not necessary. Too cold to grill outside? A cast iron grill pan can be used to get those favorited grill marks and charred flavor. These can also be baked at 400°F for 15-20 minutes (reaching an internal temperature of 165°F), brushing with the reserved marinade during the last few minutes of cook time.
Use chicken breasts. If tenderloins are not readily available at your local supermarket, chicken breasts can be used instead, cut into large strips about 1/2 to 3/4-inch thick.
Fresh herbs are best. Although you can certainly substitute dried herbs, fresh herbs (rosemary, thyme, sage or basil) are ideal here, delivering the best kind of flavor.
Let your meat rest. Let your chicken rest for at least 5 minutes prior to serving, allowing the juices to redistribute – this will allow for maximum flavor and juiciness.
Reheat in the oven. Leftover chicken can be rubbery when reheated. For best results with leftovers, reheat in the oven at 350°F, covered in aluminum foil until warmed through.