If using bamboo skewers, soak in water 30 minutes. Cook pasta as directed on package. Drain; place in large serving bowl or dish.
Meanwhile, heat gas or charcoal grill. In large bowl, mix shrimp, zucchini, tomatoes and 1/4 cup of the pesto; stir gently to coat well. Thread shrimp, zucchini and tomatoes onto skewers.
Place skewers on grill over medium heat. Cook 6 to 8 minutes, turning once, until shrimp turn pink and opaque and vegetables are crisp-tender.
Remove shrimp and vegetables from skewers; add to pasta. Add remaining 1/4 cup pesto; toss gently to mix. Sprinkle with Parmesan cheese.