In a medium bowl, whisk together the marinade ingredients: olive oil, soy sauce, balsamic vinegar, Worcestershire sauce, minced garlic, Dijon mustard, honey (or maple syrup), thyme, rosemary, smoked paprika, salt, and pepper.

Place cleaned mushrooms in a resealable bag or shallow dish, then pour the marinade over them, ensuring all mushrooms are well-coated. Seal the bag or cover the dish, then refrigerate for at least 30 minutes.

If using wooden skewers, soak them in water for 30 minutes to prevent burning on the grill.

Preheat your grill to medium-high heat (about 375°F to 400°F) and oil the grates lightly.

Carefully thread the marinated mushrooms onto the skewers, leaving space between each piece for even cooking. Add optional veggies for variety.

Place the skewers on the preheated grill and cook for about 10 to 12 minutes, turning occasionally. Brush with leftover marinade during grilling.

Once grilled to perfection, transfer the skewers to a platter, and sprinkle with fresh herbs. Serve warm.