Cut the eggplant, red peppers, zucchini and onion into 1-in. pieces. Place in a 15x10x1-in. baking pan coated with cooking spray. In a small bowl, combine the oil, tahini, vinegar, honey, salt and pepper. Drizzle over vegetables; toss to coat.
Bake, uncovered, at 450° for 25-30 minutes or until tender, stirring occasionally. Stir in parsley before serving.