In a food processor, puree the yogurt, pine nuts, garlic, 2 cups parsley, ¼ cup oil, and ¼ teaspoon each salt and pepper. Set aside.
Chop the remaining ¼ cup parsley. In a medium bowl, toss with the beans, radicchio, vinegar, 1 tablespoon oil, and ¼ teaspoon each salt and pepper. Set aside.
Heat grill to medium-high. Thread the chicken onto 8 skewers, coat with the remaining tablespoon oil, and season with ¼ teaspoon each salt and pepper.
Grill the chicken, turning occasionally, until cooked through, 7 to 10 minutes. Serve with the pesto and the bean salad.