The compound implicated as a cancer causer is Heterocyclic Amines (HCAs) created by burning or overcooking food. Current research shows there is no risk in properly grilled foods.
Should your chicken look like the one above (yes, that's my handiwork - don't ask, but let's just say that I did it in the name of research), it is said you can decrease the impact of HCAs by popping antioxidants, such as vitamins E and C and beta-carotene.
J. Scott Smith, a Kansas State University food chemistry professor who researched the issue of the cancer risk of grilling for the Food Safety Consortium has shown that commercial rosemary extracts can inhibit the formation of HCAs in cooked beef patties by 61-79%. Other spices had inhibiting effects, but rosemary leads the pack.
Tomatoes, which are rich in lycopene, are also believed to be a cancer fighter.
So here's my solution:
Take your vitamins, use a rub with rosemary like Meathead's Memphis Dust, eat your meat rare to medium rare, don't burn it, slather it with tomato based barbecue sauce, and chase the whole thing with a Bloody Mary.