Step 1

Wash the vegetables, then slice into thick wedges or triangles. If using asparagus, snap off woody bottoms, but do not slice.

Step 2

Whisk together the balsamic vinegar, olive oil, salt, garlic, and herbs in a small bowl until smooth.

Step 3

Set aside 3 tablespoons marinade. Add the remaining marinade along with the vegetables to one to two 1-gallon zip-top bags or a large baking dish.

Step 4

Toss to coat, then press as much air out of the bag (if using) as possible, or cover with plastic wrap (if using a baking dish). Allow to sit at room temperature for at least 15 minutes, or up to 3 hours.

Step 5

Prepare a grill or grill pan over medium high heat. Working in batches, grill the vegetables until tender and lightly charred all over, about 8-10 minutes for bell peppers, 7 minutes for yellow squash, zucchini, eggplant and mushroom, and 4 minutes for asparagus.

Step 6

Arrange on a platter, then drizzle with the reserved marinade. Serve warm or at room temperature.

Step 7

Preheat the oven to 425F.

Step 8

Place the vegetables on two baking sheets lined with parchment paper. Roast for 20 minutes, then flip and roast for another 10-25 minutes.

Step 9

Arrange vegetables on a platter, then drizzle with the reserved marinade. Serve warm or at room temperature.