Quarter squash and zucchini lengthwise, and cut into slices; set aside.
Heat olive oil in a large nonstick skillet coated with cooking spray over high heat. Add mushrooms; sauté 5 minutes, or until mushrooms are tender. Remove from pan, and keep warm.
Add squash and zucchini to pan; sauté 13 minutes or until tender and squash is browned in spots. Add mushrooms to squash mixture; cook 1 minute. Add sesame oil, soy sauce, and cilantro. Toss gently.