Heat gas or charcoal grill. In large resealable food-storage plastic bag, place garlic, oil, salt, zucchini, bell pepper, asparagus and squash; seal bag and toss to coat. Place vegetables in grill basket (grill "wok").
Place grill basket on grill over medium heat. Cover grill; cook 15 to 20 minutes, stirring occasionally, until vegetables are crisp-tender.
Meanwhile, in small bowl, stir together chile, orange peel and orange juice; set aside.
In large bowl, toss cooked vegetables with orange juice mixture. Serve warm.