The grill is a healthy cook’s best friend, allowing you to build big flavor and crispiness with minimal added fat. Make this meal meatless by trading the chicken for steamed edamame or rinsed and drained black beans.
Cook orzo according to package directions, omitting salt and fat. Drain and rinse with cold water.
Preheat grill to high (450°F to 550°F). Sprinkle chicken with 1/2 teaspoon salt and 1/4 teaspoon pepper. Place chicken on oiled grates. Grill, uncovered, until chicken is done, about 16 minutes, turning after 8 minutes. Let stand 5 minutes; cut into 1/2-inch-thick slices.
Place corn and zucchini on oiled grates, and grill, uncovered, until crisp-tender, about 8 minutes, turning frequently to create grill marks on all sides. Cut kernels off corn, and coarsely chop zucchini.
Whisk together oil, lime juice, shallot, mustard, honey, remaining 3/4 teaspoon salt, and remaining 3/4 teaspoon pepper in a large bowl. Add cooked orzo, corn kernels, chopped zucchini, and arugula; toss well to coat. Divide orzo mixture evenly among 6 plates. Arrange chicken slices over orzo mixture, and top with goat cheese.