Preheat the broiler.
Prepare 2 baking pans with nonstick cooking spray.
On the baking pans, place the eggplant, zucchini, yellow squash, onion, and bell pepper in a single layer.
Spray to coat well with nonstick cooking spray.
Broil, 7 inches from the heat, for about 15-20 minutes or until the vegetables are tender and browned; transfer to a large bowl.
Bring a large pot of water to boiling; add in penne and cook according to package directions; drain.
Add penne to the bowl with the vegetables; add in basil, parmesan, and oil; toss to coat.