(This answer is based on the OP's original code.)
You should get rid of all [10pt] vertical spacing adjusters. In addition, you should contemplate (a) increasing the value of \arraystretch, (b) getting rid of all vertical lines and most horizontal lines and (c) introducing linebreaks in the header cells, as the cells are needlessly wide otherwise. That way, the need to reduce the table size (via \resizebox) becomes much less extreme than it is in your original code.
By getting rid of most horizontal lines, the issue of how to achieve vertical centering between the lines simply disappears, i.e., it is simply no longer relevant. :-)
I would also (d) get rid of most boldface which, when overused (as I would say is the case here), achieves nothing at all.

\documentclass{article}
\usepackage{graphicx,booktabs}
\usepackage[table]{xcolor}
\newcommand\mycolor{\cellcolor[HTML]{FFCC67}}
\usepackage[skip=0.33\baselineskip]{caption}
\newcommand\mycell[1]{%
\begin{tabular}[t]{@{}c@{}} #1 \end{tabular}}
\begin{document}
\begin{table}
\captionsetup{font=scriptsize}
\caption{Selection Matrix}
\label{my-label}
\resizebox{\textwidth}{!}{%
\scriptsize%
\renewcommand\arraystretch{1.3}%
\setlength\arraycolsep{2pt}%
\begin{tabular}{@{}lr*{5}{c}@{}}
\toprule
Criteria & Weight & \mycell{Skin-\\Gun\textsuperscript{TM}} & \mycell{Auto-\\graft} & \mycell{Strata-\\graft\textsuperscript{\textregistered}} & \mycell{Amniotic\\Membrane} & \mycell{Silver Nitrate\\Solution} \\
\midrule
Safety & 20\% & 5 & \mycolor\textbf{3} & 4 & 2 & 2 \\
Effectiveness & 20\% & 4 & \mycolor\textbf{3} & 4 & 3 & 2 \\
Healing Time & 15\% & 4 & \mycolor\textbf{3} & 4 & 4 & 2 \\
Invasiveness & 10\% & 5 & 1 & \mycolor\textbf{3} & 5 & 4 \\
Easy to Apply & 10\% & 4 & 1 & 2 & 5 & \mycolor\textbf{3} \\
Preparation &7.5\% & 3 & 1 & \mycolor\textbf{3} & 3 & 5 \\
Availability & 5\% & 1 & \mycolor\textbf{3} & 1 & 2 & 5 \\
Post-Treatment Aesthetics & 5\% & 5 & 1 & \mycolor\textbf{3} & 2 & 2 \\
Affordability & 5\% & 1 & \mycolor\textbf{3} & 3 & 4 & 5 \\
Hospital Stay Time &2.5\% & 1 & \mycolor\textbf{3} & 3 & 4 & 5 \\ \midrule
Score & & 3.975 & 2.35 & 3.375 & 3.325 & 2.9 \\
Rank & & 1 & 5 & 2 & 3 & 4 \\ \bottomrule
\end{tabular}
}
\end{table}
\end{document}
[10pt]spacing modifiers. If you wish to create a less cramped "look", insert an instruction such as\renewcommand\arraystretch{1.5}after\begin{table}. – Mico Dec 11 '16 at 21:10tabularenvironment are centered vertically. – Mico Dec 11 '16 at 21:29\resizeboxfor tables. – Bernard Dec 11 '16 at 21:30