Heat oil in small skillet over medium heat until warm; add garlic and paprika to oil. Cook until garlic is light golden brown and fragrant, about 30 seconds. Transfer sauce to bowl to cool. Stir in parsley and adobo; set aside.
Alternately thread peppers, chorizo and onions among 8 skewers, beginning and ending with pepper. Add grape tomato to bottom of each skewer.
Heat grill to medium heat. Add skewers to hot, greased grill grates. Cook, turning skewers occasionally, until vegetables are tender and chorizo is well browned, about 5 minutes. Transfer skewers to platter; drizzle with reserved sauce.
Spanish GOYA® Chorizo is a cured sausage that has a brilliant brick red color and a smoky, slightly spicy flavor thanks to its central ingredients: pork, smoked paprika (pimentón) and garlic. GOYA® Chorizo adds depth of flavor to everything – from eggs and rice dishes to soups and stews – and makes a great Spanish snack on its own: Cut into 1” pieces and cook on a greased skillet until golden brown.