Bring a small amount of water to boiling in a large saucepan; add asparagus and carrots. Return to boiling; reduce heat to medium-low. Cook, covered, for 3 minutes. Drain well. Set aside. Lightly coat a grilling tray or vegetable grilling basket with olive oil or nonstick cooking spray.

Brush all vegetables with the 2 tablespoons olive oil and place on the prepared grilling tray or in prepared vegetable grilling basket.

Grill vegetables in an uncovered grill directly over medium heat until tender, turning occasionally with long-handled tongs. Monitor grilling carefully so vegetables don't char; a few grill marks are fine. Allow 2 to 3 minutes for tomatoes, 3 to 5 minutes for asparagus and carrots, 5 to 6 minutes for zucchini, 8 minutes for eggplant, and 8 to 10 minutes for onion and sweet pepper. Remove vegetables from grill as done. Coarsley chop.

Slice sausage into 1/4- to 1/2-inch thick slices. Stir together sausage, grilled vegetables, and sauce in a large skillet. Cover and cook over medium-low heat about 15 minues or until heated through, stirring occasionally.

Meanwhile, lightly coat a baking sheet with cooking oil or nonstick cooking spray. Slice polenta into 8 slices; place on prepared baking sheet. Bake in a 350 degree F oven for 15 to 20 minutes or until hot.

To serve, place 2 polenta rounds on each dinner plate. Top with vegetable-sausage mixture. Garnish with basil, if desired. Makes 4 servings.

3 vegetable, 1-1/2 starch, 1-1/2 meat.