How to Make It
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.