Mix fennel, salt,pepper, and red pepper flakes in a bowl. Sprinkle spice mix over chicken and set aside. Place carrots in boiling water for about 4 minutes and remove. Set aside. Bring Marsala or chicken broth to a low boil in a small saucepan over medium heat. Add mushrooms, shallots, and garlic. Season with salt and pepper. Simmer until sauce reduces, about 20 minutes. Discard garlic and set sauce aside. Coat grill with cooking spray and grill chicken 4-6 minutes per side. Grill carrots about 5 minutes. Return sauce to stove. Bring to a simmer, then remove from heat and whisk in yogurt. Divide carrots amount four plates and top chicken, sauce and rosemary.
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