Layer the tomatoes into the bottom of a 9 x 13-inch pan. Season with salt and pepper. Top with onions.
Equally divide the asparagus, mushrooms, and red peppers between the chicken pieces. Season with salt and pepper. Carefully roll up the chicken and secure with toothpicks. Place on top of the onions. Season again.
Combine all the sauce ingredients and pour over top of the chicken and veggie mixture.
Bake, uncovered, for 20-25 minutes, basting halfway through. Juices of chicken should run clear and reach an internal temperature of 160 F (if not, continue cooking for another 5-10 minutes.)