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Place chicken in a sealable plastic bag set in a large bowl. For marinade, in a small bowl, combine yogurt, cilantro, lime zest, lime juice, oil, honey, mustard, garlic, curry powder, salt and black pepper. Pour marinade over chicken. Seal bag; turn to coat chicken. Marinate in the refrigerator for 4 to 24 hours, turning bag occasionally. Drain chicken, reserving marinade.
On eight metal skewers, alternately thread chicken, bell peppers and zucchini, leaving 1/4 inch between pieces.Brush vegetables with reserved marinade.
For a charcoal grill, arrange medium-hot coals around a drip pan. Test for medium heat above pan. Place chicken skewers on grill rack over drip pan. Cover and grill for 18 to 20 minutes or until chicken is no longer pink, turning once halfway through grilling and threading a tomato onto each skewer during the last 1 minute of grilling. (For a gas grill, preheat grill. Reduce heat to medium. Adjust for indirect cooking. Grill as above.)