In a saucepan, combine the chicken broth, orzo and 2 teaspoons rosemary. Over medium-low heat, bring to a simmer. Cook until the liquid is absorbed, about 25 minutes, stirring occasionally. Remove from heat.
Brush both sides of the onion, squash, zucchini and tomatoes with olive oil and season with salt and pepper. Grill for 5-10 minutes or until tender, turning the onion, squash and zucchini once. Grill the tomatoes skin side down and do not turn during grilling.
Cut the vegetables into bite-size pieces.
In a large bowl, stir together the olive oil, vinegar and next 4 ingredients. Add the grilled vegetables and gently toss to coat.
Spread the orzo onto a large serving platter. Add the vegetables on top and sprinkle with the goat cheese.