01 - In a medium mixing bowl, whisk together the balsamic vinegar, olive oil, minced garlic, soy sauce, chopped herbs, black pepper, and salt until well combined.
02 - Add the trimmed mushrooms to the marinade and toss thoroughly to coat on all sides. Allow them to marinate for 15 to 30 minutes for optimal flavor penetration.
03 - While the mushrooms marinate, submerge wooden skewers in water for at least 15 minutes to prevent burning on the grill.
04 - Remove the mushrooms from the marinade, shaking off any excess. Thread them onto the prepared skewers, spacing them evenly for uniform cooking.
05 - Preheat an outdoor grill or indoor grill pan to medium-high heat, approximately 400°F. Lightly oil the grates to prevent sticking.
06 - Place the skewers on the hot grill and cook for 8 to 10 minutes, turning every 2 to 3 minutes, until the mushrooms develop a deep golden-brown color and are tender throughout.
07 - Transfer the grilled skewers to a serving platter. Sprinkle with chopped parsley and finish with a light drizzle of balsamic glaze if desired. Serve immediately while hot.