Prepare grill to medium heat.
Place 2-3 shrimp, 1 zucchini slice, 1 summer squash slice, 1 onion wedge and 1 cherry tomato on each skewer in desired pattern. Set aside.
In small bowl, combine oil, garlic and rosemary. Salt and pepper to taste. Brush oil on kebabs.
Place kebabs on grill. Grill, turning occasionally, until shrimp is opaque in color and cooked through (about 8-10 minutes).