Prepare Citrus: Wash lemon, lime, and orange. Zest the orange (about 1 tbsp). Juice 1 lime, ½ lemon, and 1 tbsp of orange juice. Add to a mixing bowl.
Combine Ingredients: Add balsamic vinegar, honey, Dijon mustard, salt, and pepper to the bowl. Slowly pour in olive oil.
Emulsify: Whisk vigorously for 1 minute until smooth and slightly thickened. Alternatively, add ingredients to a jar, seal, and shake hard for 30 seconds.
Rest & Serve: For best flavor, let the dressing sit 15 minutes before using. Drizzle over salads, grilled chicken, or roasted veggies. Store refrigerated 5–7 days.