Whisk together vinegar, mustard, shallots, lemon juice, and lemon zest in small bowl. Slowly whisk in olive oil until mixture thickens or emulsifies. Stir in rosemary, and season with salt and pepper, if desired. Set aside.
Toss mushrooms, bell peppers, red onion, yellow squash, and zucchini with 1/2 cup RosemaryDijon Vinaigrette. Reserve remaining RosemaryDijon Vinaigrette for another use. Cover, and refrigerate 1 hour, or overnight.
Preheat grill to medium-high heat. Thread vegetables onto 12 presoaked bamboo skewers, leaving 1/4 inch space between each one to ensure even cooking.
Rub grate or vegetable grill topper with vegetable oil. Grill skewers 3 to 4 minutes per side, or until vegetables are slightly charred and soft. Season with salt and pepper, if desired, and drizzle with remaining 1/4 cup RosemaryDijon Vinaigrette.
Extra Vinaigrette can be brushed onto slices of a french baguette and then grilled.
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