Significance Many of the functions and applications of materials in catalysis, energy conversion, drug delivery, bioanalysis, and electronics are based on their interfacial properties and structures. The characterization of their molecular properties under ambient or chemically reactive conditions is a fundamental scientific challenge. Here, we develop a surface-sensitive magnetic resonance technique that combines the nanoscale-sensing capabilities of defects in diamond with a high precision and versatile protocol for diamond surface modification. We demonstrate the functionality of this method for probing the molecular properties and kinetics at surfaces and interfaces under ambient conditions.