Preheat oven to 450°F. Spray roasting pan with cooking oil spray.
Place the vegetables (peppers, eggplant, yellow squash and butternut squash) in a roaster. Lightly spray with cooking oil spray. Sprinkle with salt and pepper.
Roast vegetables for about 20 to 25 minutes or until tender and are beginning to turn brown. Stir occasionally to keep one side from burning.
Cook the pasta in boiling salted until tender but al dente. Drain. Reserve 1/3-cup liquid.
In a large bowl, toss the vegetables, pasta, tomatoes and basil.
Add garlic, olive oil and balsamic vinegar. If too dry, add up to 1/3 cup of the reserved pasta liquid; season with a little salt and pepper to adjust the taste.
Serve with Parmesan cheese.