Preheat grill to medium-high heat (about 400°F or 200°C).

In a large bowl, toss the zucchini (2 medium), bell peppers (2 medium), red onion (1 medium), asparagus (1 bunch), and mushrooms with olive oil (¼ cups), salt (½ tsp), and pepper.

Grill the vegetables in batches, turning occasionally, until tender and slightly charred, about 3-5 minutes per side.

Slightly charred marks on the vegetables • Vegetables are tender when pierced with a fork

Transfer the grilled vegetables to a platter.

While the vegetables are grilling, make the balsamic glaze. In a small saucepan, combine the balsamic vinegar (½ cups) and honey (1 tbsp).

Bring to a simmer over medium heat and cook until the glaze has reduced by half and thickened slightly, about 5-7 minutes.

Glaze coats the back of a spoon

Drizzle the balsamic glaze over the grilled vegetables.

Aromatic balsamic scent fills the air

Serve immediately.