In a 10-inch skillet cook beef, onion, and garlic over medium heat until meat is brown and onion is tender. Drain off fat. Add zucchini, summer squash, mushrooms, and green pepper. Cover and cook over low heat for 5 to 7 minutes or until vegetables are tender. Stir in salsa, basil, parsley, and rosemary. Simmer, uncovered, about 10 minutes or until most of the liquid has evaporated. Serve on toasted rolls. Makes 6 to 8 servings.

Chop and slice vegetables; cover and chill up to 4 hours.