After a passionate, yet interesting discussion in the comments, I decided to edit my comment.
Marinades: Actually, this is a broad term and sometimes is used to refer to marinades, rubs, coatings and glazes. A marinade should actually change the qualities of the piece you are preparing. A salty marinade (brine) will make the meat moister because of osmosis, an acidic marinated will "cook" the meat, and strong spices like garlic, paprika and many others will penetrate the meat, sometimes even dyeing the tissues deep to the centre of the cut.
A marinade will do its work BEFORE the meat is cooked so many times you can wash it away before putting the piece in the pan.
About your mix of soy sauce, orange and honey, I am not sure how much the aromas of the ingredients will penetrate the meat, and soy sauce is a kind of brine, but, mixed with the other ingredients maybe is not salty enough. So maybe, instead of using that mix as a marinade, you can just use it as a coating and "paint" the meat in the last moment. The result will be good for sure.
Something that you must keep in mind is that you don't want to burn a marinade (or rub or coating) because it will taste bad and also it will be unhealthy. That's why in some recipes, it is suggested to wash the meat before cooking. Also, your marinade has a lot of sugar, so it will burn easily.
Cooking at lower temperature, for instance in the oven as @sofos said, would prevent the marinade from burning. Adding water to the marinade, would also prevent it from burning in the pan, as the water will boil preventing the mix from reaching temperatures higher than 100°C.
What I use to do at home:
When I do marinades, I combine sweet products (orange juice, honey, sugar, mirin, pieces of fruit), salt (or soy sauce or miso), acidic products (lemon juice, vinegar), spices (rosemary, paprika, curry mix, pepper), oils (olive oil, sesame oil) and/or alcohol (wine, beer, cider, nihonshu). Obviously, not all at the same time! Some combinations work, others don't and you don't need to put one product of every group.
After letting the mix and the meat sit for a couple of hours, I take the pieces of meat out of the marinade and wash them. Then I put the meat in the pan and sear it at high heat and, after, I add the marinade and maybe a bit of water. I let it reduce and caramelize and, hopefully, I get a delicious dish!
This may not be an "orthodox" marinade: for instance, if you marinate in red wine, we would be talking more about a civet... but we are at home and we don't care about names, isn't it?