Heat grill. When ready to grill, oil grill rack. Drain chicken and vegetables, reserving marinade. Place chicken on gas grill over medium heat or on charcoal grill 4 to 6 inches from medium coals. Cook 15 to 20 minutes, or until chicken is fork-tender and juices run clear, turning once and brushing frequently with reserved marinade. While chicken is cooking, place vegetables, cut side down, next to chicken on grill. Cook 14 to 18 minutes or until crisp-tender, turning once and brushing frequently with reserved marinade. Discard any remaining marinade.