Shiao is pronounced like "shout" without the t, or "ow" (like you hurt yourself) with an sh in front of it
Ching is pretty self-explanatory. Rhymes with sing, but starts with ch.
Zheng is harder to describe. It's similar to "zing" but instead think "zeng" (with the e pronounced like the e in end). Now, to pronounce the "zh" sound try to pronounce "it's" but stop yourself at the interface between the t and the s. That is about the sound that you should be making. Don't make the sssss sound either. It's more of a z sound. Like if you saying "zzzzz" and then moved your tongue back a bit.
this pronunciation is so off it offends me