HEAT oven to 375ºF.
BLEND first 4 ingredients in blender until smooth. Reserve half; coat chicken with remaining mixture.
PLACE chicken over carrots in foil-lined baking pan. Bake 45 to 55 min. or until chicken is done (165°F).
MEANWHILE, cook yuca in boiling water 25 min. or until tender; drain. Warm reserved dressing mixture; add to yuca in medium bowl. Mash; keep warm.
TOP chicken and vegetables with cheese just before serving.