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In a bowl, whisk together orange juice, oil, lime juice, soy sauce, cumin, honey, garlic and pepper until well blended to make a marinade.
Put vegetables in 1 or 2 large resealable plastic bags.
Put chicken in another large resealable plastic bag.
Divide marinade equally among the bags, seal and refrigerate, turning the bags occasionally, for at least 3 hours or up to overnight.
Prepare a grill for medium-high heat cooking.
Thread vegetables and chicken onto skewers. (If using wooden skewers, soak in water for 30 minutes before assembling.)
Grill, turning often, until chicken is just cooked through and slightly charred, about 8 minutes.
Alternatively, preheat the oven to 425°F.
Arrange skewers in a single layer on a large rimmed baking sheet.
Roast until chicken is just cooked through, about 10 minutes, and vegetables are tender. Transfer skewers to a platter and serve.