Coat eggplants and zucchini with cooking spray. Sprinkle with 1/2 teaspoon salt and 1/4 teaspoon black pepper. Grill eggplant and zucchini 1 1/2 minutes on each side or just until tender. Cool; combine in a large bowl.
Place bell peppers on grill, skin-side down; grill 3 minutes or until tender. Cut into (1-inch-wide) strips. Add bell peppers to eggplant mixture.
Combine ricotta cheese, egg, 1/2 cup Asiago cheese, basil, parsley, remaining 1/2 teaspoon salt, and remaining 1/2 teaspoon black pepper.
Cook the lasagna noodles according to package directions, omitting the salt and the fat.
Preheat oven to 375°.
Spread 1/2 cup spaghetti sauce in bottom of a 13 x 9-inch baking dish coated with cooking spray. Arrange 3 noodles over tomato sauce. Top with half of eggplant mixture. Spread half of ricotta cheese mixture over eggplant mixture; sprinkle with 1/4 cup mozzarella cheese.
Arrange 3 noodles and 1 cup of spaghetti sauce over cheese; cover with the remaining eggplant mixture. Top with remaining ricotta mixture. Spread pesto over ricotta; sprinkle with 1/4 cup mozzarella cheese. Cover with remaining 3 noodles.
Spoon 1 cup spaghetti sauce over noodles. Sprinkle with remaining 1/4 cup Asiago cheese and remaining 1/4 cup mozzarella cheese.
Bake at 375° for 1 hour. Let stand 15 minutes before serving.