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In a medium bowl, whisk together Dijon, shallot, honey, olive oil, rosemary, lemon juice, 1 teaspoon salt and ½ teaspoon pepper; set aside ½ 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.