Combine first 7 ingredients in a large zip-top plastic bag. Add lamb; seal and marinate in refrigerator 1 hour or up to 8 hours, turning bag occasionally.
Prepare grill or grill pan to medium-high heat.
Remove lamb from bag. Place lamb on grill rack or grill pan coated with cooking spray; cook 6 minutes on each side or until medium-rare or desired degree of doneness.