Sprinkle veal with salt and pepper.
Heat oil in a large nonstick skillet over medium-high heat. Add veal; cook 7 to 8 minutes on each side or until done. Remove veal from pan; keep warm.
Add orange juice and vinegar to drippings; cook over medium heat 2 to 3 minutes, scraping pan to loosen browned bits. Return veal to pan; add grape halves, and cook 1 minute, turning veal to coat with sauce. Place veal on a serving platter. Pour sauce over veal.