1 cup balsamic vinegar
1 1/4 cups plain low-fat or fat-free yogurt
2 tablespoons olive oil
2 cloves garlic, minced
2 tablespoons fresh flat-leaf parsley, chopped
3 zucchini, sliced in 1/2-inch rounds
1 small eggplant, sliced in 1/2-inch rounds
1 sweet onion, sliced in 1/2-inch rounds
1/2 cup roasted red peppers, diced
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