Preheat the oven to 425°F, coat 2 baking sheets with nonstick cooking spray.
Place the vegetables on the baking sheets in a single layer, lightly spray with nonstick cooking spray and season with salt and pepper om both sides, bake for 16-20 minutes, or until tender.
Remove from the oven and reduce the oven temperature to 350°F, coat an 8 inch square baking dish with nonstick cooking spray, place 3 slices of the roasted eggplant in the bottom of the baking dish, spread half of the ricotta cheese, half of the chopped basil,and 1/4 cup shredded mozzarella cheese over that.
Continue to layer with zucchini slices, yellow squash slices, and strips of red peppers, spread the remaining half of the ricotta cheese and basil, and 1/4 cup mozzarella cheese on top.
Place the remaining 3 slices of eggplant over that and top with tomato sauce and the remaining 1/4 cup mozzarella cheese, bake for 10-12 minutes, or until heated through and the cheese is melted, cut into 4 squares and serve.