In a large skillet warm the oil over medium heat, add the garlic, cook 30 seconds. Add zuchinni and mushrooms, cook stirring occasionally for about 7 minutes or until vegetables are soft but not mushy. Remove and discard garlic. Stir in basil.
Prepare the pasta according to the package. Add asparagus to the pasta for the last 3 minutes of cooking. Drain and return to pot. Add the cooked vegetables and toss to mix. Serve topped with the parmesan cheese.
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