Gently scrub the mushroom caps with a damp cloth or a sturdy brush to remove dirt, paying special attention to the gills underneath. Pat dry with paper towels.
In a small bowl, whisk together olive oil, minced garlic, chopped herbs, balsamic vinegar, and a pinch of salt and pepper to create a flavorful marinade.
Brush the mushroom caps generously with the marinade, making sure to coat the tops and sides evenly. Let them sit for about 10 minutes to absorb the flavors.
Preheat your grill or grill pan to medium-high heat until hot. Lightly oil the grates to prevent sticking.
Place the mushroom caps flat side down on the grill. Grill for about 4-5 minutes, until they start to soften and develop grill marks.
Gently flip the mushrooms using tongs and continue grilling for another 4-5 minutes, listening for a gentle sizzle and watching for tender, juicy flesh.
Remove the mushrooms from the grill once they are tender and slightly charred around the edges. Squeeze a splash of lemon juice over them for brightness.
Serve the grilled portobello mushrooms hot, with a smoky aroma and a tender, juicy bite that showcases their earthy flavor.