Combine olive oil, garlic, lemon juice, rosemary, thyme, salt, and pepper in a bowl.
Add honey or brown sugar and smoked paprika or cumin if using.
Place lamb in a dish or bag, pour marinade over, and refrigerate.
Let lamb marinate for at least 1 hour or overnight.
Remove lamb from refrigerator and bring to room temperature.
Preheat grill or pan over medium-high heat until hot.
Sear lamb for 4-5 minutes per side until golden-brown.
Check internal temperature for desired doneness.
Let lamb rest for 5 minutes before serving.