In a large bowl whisk together orange juice, olive oil, lime juice, tamari, honey, pepper, cumin and garlic until well blended to make a marinade. Place vegetables in one or two resealable bags or containers and tempeh in a separate bag. Divide marinade equally among the bags, seal and marinate in the refrigerator, turning occasionally, for about 3 hours, or overnight.

Soak wooden skewers in water to cover for at least 1 hour. Skewer vegetables and tempeh separately on skewers. For example, thread only bell peppers on one skewer, only squash on another and only tempeh on the next. Since ingredients cook at varying times, this will allow you to cook individual skewers until the items are cooked perfectly. Discard remaining marinade.

Prepare a grill for medium-heat grilling. Grill tempeh until beginning to char charred in places, turning often, about 5 minutes. Grill vegetables until tender and slightly charred. Transfer skewers to a platter as done and serve.