1In shallow glass or plastic bowl, or resealable food-storage plastic bag, mix all marinade ingredients. Add chicken, stirring to coat with marinade. Cover dish or seal bag; refrigerate, stirring occasionally, at least 30 minutes but no longer than 6 hours.
2Heat coals or gas grill for direct heat. Remove chicken from marinade; reserve marinade. Thread chicken, bell pepper, zucchini and onion alternately on each of four 15-inch metal skewers, leaving about 1/4-inch space between each piece. Brush vegetables with marinade.
3Cover and grill kabobs over medium heat 10 to 15 minutes, turning and brushing frequently with marinade, until chicken is no longer pink in center. Add asparagus to grill for last 5 minutes of grilling, turning occasionally, until crisp-tender. Discard any remaining marinade.
4Sprinkle feta cheese over kabobs. Serve kabobs with asparagus.