Whisk together the honey, mustards, lemon zest and lemon juice in a bowl and let sit for at least 30 minutes.
Season goat cheese with salt and pepper and refrigerate until needed.
Heat grill to high for indirect grilling.
Brush steak with canola oil and season liberally with salt and pepper. Grill, directly over the coals, until golden brown and slightly charred, about 5 minutes. Turn over the steak and position it away from the coals (indirect heat). Close the cover and grill, turning once, until an instant-read thermometer inserted into the center registers 135°F, about 10 minutes. Remove the steak from the grill to a cutting board, tent loosely with foil and let rest for 5 minutes.
Top the steak with the goat cheese, drizzle with the sauce, and top with some parsley leaves.