Weyl semimetals (WSMs) are realized when non-degenerate bands cross at isolated points in the Brillouin zone. Consider the simplest example of a time-reversal symmetry broken WSM modeled by the hamiltonian $$H = t' \sin{k_x} \sigma_x + t'' \sin{k_y} \sigma_y + t (\cos{k_x} + \cos{k_y}+ \cos{k_z} - M) \sigma_z.$$ This hamiltonian admits 2 bands ($\sigma_j$ are the Pauli matrices). When $1 < M < 3$ a WSM phase is realized with Weyl points (i.e. points where the two bands cross) at $(k_x, k_y, k_z) = (0, 0, \pm \cos^{-1}(M-2))$.
If you zoom-in close to one of the Weyl points (say the one at $k_z >0$), Taylor expand the terms in the hamiltonian in terms of the deviations $\delta k_j$, and keep only the leading order term in each expansion, then you'll find the following effective hamiltonian $$H_+ = t' \delta k_x~ \sigma_x + t'' \delta k_y~ \sigma_y - t \sin\cos^{-1}(M-2) ~\delta k_z~ \sigma_z.$$
At zero density, the Fermi level will intersect the Weyl points, and the low energy excitations will be described by $H_+$ (here, "low" implies energies at which the quadratic terms that were dropped in the Taylor expansion are small compared to the linear terms). Notice that these excitations disperse linearly, and has 2 branches. In this sense the low energy excitations emulate Weyl fermions.
If one ignores the higher order terms in the Taylor expansion entirely, then the low energy excitations appear to be massless owing to an absence of terms $\propto \delta k_j^2$. In reality there is a finite but small mass. Here, we need to distinguish between the 'band mass' ($m_*$), which is a measure of the local curvature of a band, from the particle-like excitation's mass which is the energy gap in the excitation spectrum: If the excitation spectrum is described by $ E(k) = \sqrt{k^2 + \mu^2}$, then $\mu$ is the mass/energy gap. It is $\mu$ that is usually alluded to when the term massless is invoked in the context of semi-metals or multiband insulators.
It is instructive to check these limiting behaviors with the eigenvalues (bands) of the microscopic hamiltonian, $H$. Make special note of the terms being dropped from the Taylor expansion.