Easy Grilled Vegetables

• 3 tablespoons olive oil
• 1 pound asparagus trimmed
• 1 pound cherry tomatoes stemmed
• 8 ounces cremini mushrooms halved
• 2 ears corn each cut crosswise into 4 pieces
• 2 zucchini quartered lengthwise
• Kosher salt and freshly ground black pepper to taste

For the basil garlic sauce

• ½ cup olive oil
• 2 ½ tablespoons red wine vinegar
• 1 teaspoon Dijon mustard
• 2 cloves garlic chopped
• ⅓ cup packed fresh basil leaves
• 3 tablespoons packed fresh parsley leaves
• Kosher salt and freshly ground black pepper to taste