Coat a large saucepan with cooking spray and set over medium-high heat. Add the sausage and cook, stirring occasionally, until the sausages are starting to brown, 5 to 6 minutes. Transfer the sausages to a bowl and set aside.
Heat the olive oil in the same saucepan and turn the heat to medium. Add the onion and cook until the onion is tender, 6 to 7 minutes.
Add the garlic and cook for 1 minute. Stir in the roasted red peppers.
Add the bay leaves and chicken broth, bring to a boil, then turn heat to medium-low. Simmer, partially covered, for 20 minutes.
Remove the bay leaves and turn the heat to medium-high. Bring the soup to a boil.
Add the whole wheat orzo, along with the cooked sausages, and cook until the orzo is al dente (according to package directions).
Remove the soup from the heat, stir in the parsley and basil, and serve.