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Heat gas or charcoal grill. Cut 4 (18x12-inch) sheets of heavy-duty foil. Spray with cooking spray.
Pour broth in 4-cup glass measuring cup. Add rice and rosemary; stir and let stand about 8 minutes or until most of liquid is absorbed.
In small bowl, stir together mustard, 2 tablespoons of the olive oil, the garlic, 1/2 teaspoon of the salt and 1/4 teaspoon of the pepper. Set aside.
In large bowl, mix zucchini, carrots, remaining 1 tablespoon oil, remaining 1/4 teaspoon salt and remaining 1/4 teaspoon pepper.
Divide rice mixture among foil sheets. Brush both sides of chicken with Dijon mixture; place 1 on top of each mound of rice. Divide vegetables among foil sheets, placing them next to chicken breasts.
For each packet, bring up 2 sides of foil over chicken and vegetables so edges meet. Seal edges, making tight 1/2-inch fold; fold again, allowing space for heat circulation and expansion. Fold other sides to seal.
Place packets on grill over medium heat. Cover grill; cook 18 to 20 minutes, rotating packets one-half turn after 10 minutes, until juice of chicken is clear when center of thickest part is cut (at least 165°F).
Place packets on plates. Cut large X across top of each packet; carefully fold back foil.