Preheat oven to 425°F. Line two 15x10x1-inch baking pans with foil; set aside.
Combine parsley, oregano, basil, rosemary, salt and ground pepper in a small bowl. Place chicken on one of the prepared pans. Sprinkle with half of the herb mixture.
Combine mushrooms, onion, bell pepper and garlic in a large bowl. Drizzle with oil; toss to coat. Place mushroom mixture on the other prepared baking pan.
Roast chicken and vegetables 30 minutes, stirring vegetable mixture once. If chicken is tender and no longer pink (180°F), remove from oven and cover to keep warm; if not, continue roasting until done. Add asparagus, beans, tomatoes, olives, balsamic vinegar and the remaining herb mixture to the vegetables in pan; stir to combine. Continue to roast about 15 minutes or until asparagus is crisp-tender.
To serve, cut chicken into bite-size pieces; combine with roasted vegetables.
Please Note: Nutritional values listed may vary from final results depending on actual measurements and brands used to prepare the recipe.
Exchanges: 5 Lean Protein, 2 Vegetable, 1 Starch, 1/2 Fat