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Preheat oven to 400°F. Coat a large rimmed baking sheet with cooking spray.
Whisk ¼ cup balsamic vinegar, 2 tablespoons oil, 1 teaspoon garlic powder, ¼ teaspoon salt and ¼ teaspoon pepper together in a small bowl. Place chicken in a large bowl. Pour half of the marinade over the chicken; toss to coat. Cover and let marinate for at least 15 minutes (or refrigerate for up to an hour); set aside the remaining marinade.
Arrange the marinated chicken on the baking sheet; pour any remaining marinade in the bowl over the chicken. Toss halved tomatoes and sliced zucchini with the reserved marinade in a large bowl. Spread the vegetables on the pan with the chicken. Sprinkle with the remaining ¼ teaspoon salt.
Bake until an instant-read thermometer inserted in the thickest portion of chicken registers 165°F and the vegetables are tender, 20 to 25 minutes. Garnish with additional pepper, if desired.