1. Place the cauliflower, broccoli and carrots in a steamer basket; place in a large saucepan over 1 inch of water. Bring to a boil; cover and steam for 7-9 minutes or until crisp-tender. Meanwhile, in a large skillet, saute mushrooms and onions in butter until tender.
2. Drain vegetables. In a large bowl, combine the soup, milk and cheese sauce. Add vegetables and mushroom mixture; toss to coat. Transfer to a greased 2-qt. baking dish. Cover and refrigerate overnight.
3. Remove from the refrigerator 30 minutes before baking. Bake, uncovered, at 350 degrees for 40-45 minutes or until bubbly.
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