In a mixing bowl, whisk together Frank's hot sauce, orange juice, minced garlic, olive oil, and Worcestershire sauce until combined; season with salt and pepper to taste.
Place the chicken breasts in a resealable plastic bag or shallow dish and pour the marinade over them, ensuring all pieces are coated.
Seal the bag or cover the dish and refrigerate to marinate for a few hours or up to overnight for best flavor.
When ready to cook, remove chicken from the marinade and discard the used marinade.
Preheat a grill or grill pan over medium-high heat and oil the grates or pan lightly; optionally pound chicken to an even thickness for uniform cooking.
Grill the chicken breasts 5–8 minutes per side, or until a meat thermometer inserted into the thickest part reads 165°F (74°C).
Remove the chicken from the heat and let rest a few minutes before serving.