Gather all ingredients.
Whisk teriyaki sauce, lemon juice, garlic, and sesame oil together in a bowl
Pour marinade into a resealable plastic bag. Add chicken, coat with marinade, squeeze out excess air, and seal the bag. Marinate in the refrigerator for at least 1 hour to overnight, turning every so often.
When ready to cook, preheat an outdoor grill for high heat and lightly oil the grate. Remove chicken from marinade and shake off excess. Discard any remaining marinade.
Cook chicken breasts on the preheated grill until no longer pink in the center and the juices run clear, 6 to 8 minutes per side. An instant-read thermometer inserted into the center should read at least 165 degrees F (74 degrees C).
Enjoy!
