In a medium bowl, whisk together honey, soy sauce, minced garlic, rosemary, olive oil, black pepper, salt, and lemon juice until well combined.
Place the lamb chops in a large resealable plastic bag or a shallow dish. Pour the marinade over the lamb, ensuring all chops are well coated. Seal the bag or cover the dish and refrigerate for at least 1 hour, or up to overnight for more flavor.
Preheat your grill or a grill pan over medium-high heat. Remove the lamb chops from the marinade, allowing excess marinade to drip off.
Grill the lamb chops for about 4-5 minutes on each side for medium-rare, or until they reach your desired doneness. Discard any leftover marinade.
Once cooked, remove the lamb chops from the grill and let them rest for 5 minutes before serving. Garnish with chopped fresh parsley if desired.
Notes
For a spicier kick, add 1 teaspoon of red pepper flakes to the marinade.
Serve with grilled vegetables or a fresh salad for a complete meal.