Brush olive oil onto the asparagus, tomatoes, mushrooms, corn and zucchini; season with salt and pepper, to taste.
Add vegetables to grill, and cook, turning occasionally, until lightly charred all over, about 3-4 minutes for the asparagus, tomatoes and mushrooms and about 5-8 minutes for the corn and zucchini.
Serve immediately with basil garlic sauce.
For the basil garlic sauce
Combine olive oil, vinegar, Dijon, garlic, basil and parsley in the bowl of a food processor until smooth and vibrant green; season with salt and pepper, to taste. Set aside.
Notes
Use sturdy vegetables. Firm, dense vegetables (ex. zucchini) are best for the grill as they can withstand high temperatures to caramelize and develop smoky, charred flavors without falling apart or turning into mush.
Cut large. Always cut the vegetables in large, uniform pieces to prevent them from falling through the grill grates.
Parboil root vegetables. Root vegetables such as carrots and sweet potatoes will take longer to cook through. If you plan to add these vegetables, parboil them first before adding to the grill for a quick, crispy char.
Always brush with oil before grilling. This will prevent the vegetables from sticking to the grates, seals in moisture, and ensures even heat distribution for uniform browning and caramelization.
Mix it up. Swap out the basil garlic sauce for pesto instead.