Spicy Balsamic Dressing: Whisk together oil, vinegar, garlic, mustard, seasoning and honey.
Salad: Preheat grill to medium-high; grease grate well. Brush radicchio with 1 tbsp dressing. Grill radicchio, turning once, for 4 to 5 minutes or until lightly charred. Let cool slightly and slice thinly.
Toss orzo with remaining dressing. Stir in cherry tomatoes, kidney beans, olives, shallots and 3 tbsp parsley. Transfer to serving plate. Top with radicchio and sprinkle with remaining parsley.
Substitute escarole lettuce for radicchio if desired.