Heat barbecue to medium heat. Cover grate with heavy-duty foil; spray with cooking spray. Remove chicken from marinade; discard marinade. Grill chicken, breast-side down, 10 min. or until grill marked; turn over. Grill 35 min. or until chicken is done (170ºF). Transfer to cutting board. Tent with foil; let stand 10 min. Meanwhile, brush asparagus with reserved dressing mixture. Grill 6 to 8 min. or until crisp-tender, turning occasionally.