Preheat oven to 400 degrees F. Lightly grease a large baking sheet or tray with cooking spray and set aside.
In a medium bowl whisk together the lime juice, grapefruit juice, honey, olive oil, minced garlic, soy sauce, and black pepper. Stir in the fresh cilantro, parsley, and rosemary, and set aside.
Transfer chicken breasts to a large zip-lock bag. Add HALF the marinade to the chicken, seal the bag, and set aside in the refrigerator to marinate for at least 30 minutes to overnight. Reserve the remaining marinade for later.
When ready to cook, transfer vegetables to the prepared baking sheet(s) and drizzle with olive oil. Gently toss to coat. Create room in the middle of the baking sheet for the chicken breasts. Transfer the chicken breasts to the baking sheet and drizzle leftover marinade in the zip-lock bag over the chicken and vegetables. Place the sliced grapefruit slices over the chicken.
Transfer baking sheets to the oven and bake for approximately 25-30 minutes, switching baking trays to corresponding baking rack once during cooking time. Remove from oven once chicken reaches an internal temperature of 165 degrees F.
Remove baking trays from the oven and drizzle with remaining half of the marinade. Sprinkle with fresh chopped cilantro, if desired.