Slice the chicken breast into two equal halves and place in a sealable container or plastic bag.
Prep the chipotle peppers and garlic clove. Place in a bowl.
To the same bowl, add cayenne pepper, paprika, black pepper, cumin, chili powder, lime juice, Worcestershire sauce, honey, balsamic vinegar, and olive oil. Stir until ingredients are combined. Pour over the chicken and ensure all surfaces of the chicken are covered with marinade. Marinate for 2 hours in the refrigerator.
Preheat an outdoor grill for medium-high heat. Remove the chicken from the marinade and shake off excess. Grill the chicken until internal temperature measures 165℉. After flipping the chicken, pour some marinade over the chicken, if desired.