Prepare the vegetables by trimming the asparagus, thinly slicing the red pepper and peeling and slicing the carrots into long, thin matchsticks.
In a small bowl, whisk together the remaining ingredients.
Place the veggies in a small casserole dish or on a cookie sheet. Pour olive oil mixture on top and toss to coat evenly. Bake at 425 degrees for 15-20 minutes.
Notes
You can also prepare this on the grill by placing the coated veggies in a foil packet or foil baking dish.