Stir together in medium-size bowl olive oil, lemon zest, lemon juice, rosemary, garlic, salt, and pepper. Cut breast halves into 8 pieces each. Add chicken to marinade and stir to coat. Cover and refrigerate for 1 to 2 hours.
To cook, prepare grill with medium-hot coals or heat gas grill or broiler. Thread chicken and vegetables onto 6 skewers, covering exposed wood with foil. Grill or broil, about 2 minutes each side. Serve hot or at room temperature. Makes 6 skewers.