Preheat oven to 400 degrees F. Coat a roasting pan with cooking spray. Line pan with lemon slices.
In a smal bowl, stir together lemon juice, chopped garlic, lemon pepper seasoning, and 4 tablespoons olive oil. Rinse the chicken pieces and pat dry with paper towels. Place the chicken pieces on lemon slices and lightly brush chicken with some garlic-lemon mixture (reserve remaining garlic-lemon mixture). Season to taste with salt and pepper.
Toss potatoes with tomatoes, zucchini, olives, rosemary and remaining 1 tablespoons olive oil until well coated. Arrange vegetables and whole garlic cloves around chicken, reserving liquid from the vegetables in case the pan dries out during baking.
Bake for 20 minutes. Brush with reserved garlic-lemon mixture and bake until chicken is cooked through, another 20-25 minutes; add vegetable juices if necessary.
Serve chicken with vegetables drizzled with pan juices and cheese.