Mix all marinade ingredients together in a zip-top bag. Add lamb, marinate in refrigerator 2 hours minimum or up to 8 hours.
Remove lamb from marinade and discard marinade.
Grill, without grill lid, over medium coals (300 to 350 degrees F) 5 to 7 minutes on each side or until a thermometer inserted in thickest portion register 130 degrees for medium-rare.
Let stand 10 minutes before cutting. Cut into individual, one-bone 'lollipops'.