Soak wooden skewers in water 30 minutes. Preheat grill to 350° to 400° (medium-high) heat. Whisk together rosemary and next 6 ingredients in a bowl. Add chicken and next 3 ingredients; toss to coat. Thread chicken and vegetables alternately onto skewers; discard marinade.
Grill kabobs, covered with grill lid, 12 to 14 minutes or until chicken is done, turning occasionally. Let stand 5 minutes; serve with sauce.