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1. In a small bowl, whisk together balsamic vinegar, Italian dressing and garlic. Reserve 1/3 cup marinade. Combine remaining marinade with chicken breast pieces in a bowl and marinate for 15 minutes.
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2. Meanwhile, heat grill to medium heat.
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3. Toss tomatoes, mushrooms, peppers and zucchini with olive oil. Season with salt and pepper. Add tomatoes and peppers to grill basket and place on grill. Cook, shaking frequently, for 5 minutes. Add mushrooms and zucchini to grill basket. Brush with some of reserved marinade and cook for another 5-7 minutes.
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4. Remove chicken from marinade and add chicken to separate grill basket (or wait for vegetables to cook). Cook for 7-9 minutes, or until fully cooked.
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5. Toss together chicken, grilled vegetables and orzo. Drizzle with 2 Tbsp reserved marinade. Serve warm or cold.