Prepare an indoor or outdoor grill over medium high heat.
To make the dressing, combine all the ingredients in a small bowl and whisk together until evenly combined. Dress the salad with 1/2 of the vinaigrette and taste. Add more vinaigrette if needed otherwise reserve the remaining vinaigrette for a later use.
Cut summer squash into 1 inch pieces. Brush the summer squash with olive oil and season with salt and pepper. Grill for 3-4 minutes on each side until grill marks are present. Remove from the grill and brush the grilled zucchini with a bit of the balsamic vinaigrette. Set aside.
On a platter, arrange the lettuce, grilled squash, cherry tomatoes and herbs. Top with the goat cheese and drizzle with the balsamic vinaigrette. Serve immediately.