In a small bowl or mason jar, add the oil, lemon juice, lemon zest, dijon mustard, honey, salt, and pepper. Whisk or shake to blend. Set aside.
Vegetables and Orzo
Cook the orzo according to package directions. Drain and set aside.
Prepare the vegetables for grilling: Slice the eggplant into ¼-1/2 inch rounds. Cut the bell peppers into rings and remove the seeds and membranes. Slice the red onion into ¼ inch rounds. Cut the zucchini into ⅛ inch slices, lengthwise.
Grill the vegetables until charred and crisp-tender, approx. 10-15 minutes, depending on the heat of the grill.
To assemble, toss the orzo with ⅓ of the vinaigrette. Arrange the orzo on a platter.
Slice the eggplant, peppers, and onion in half. Add the eggplant, peppers, onion, and zucchini to a bowl and toss with ½ of the remaining vinaigrette. Arrange the vegetables over the orzo. Drizzle with the remaining vinaigrette or serve on the side.