Heat a large nonstick skillet over medium-high heat. Add escarole to pan; cook 3 minutes or until wilted, turning frequently. Trim white stem ends from each escarole quarter; roughly chop.
Wipe pan with a paper towel. Return pan to medium-high heat. Coat pan with cooking spray. Add pancetta, zucchini, and garlic to pan; cook 2 minutes or until zucchini is tender. Add corn; cook for 1 minute. Combine escarole, corn mixture, parsley, and beans in a large bowl. Add vinegar and remaining ingredients; toss well to coat. Serve immediately.