1. Preheat your oven to 425°F. Line a baking sheet with parchment paper.

2. In a large bowl, toss the halved cherry tomatoes, sliced zucchini, diced yellow bell pepper, and sliced red onion with the olive oil, dried basil, dried oregano, salt, and pepper until everything is evenly coated. Spread the seasoned vegetables in a single layer on the prepared baking sheet. Roast them in the preheated oven for 20-25 minutes, or until they are tender and slightly charred.

3. While the vegetables are roasting, cook the penne pasta according to the package instructions. Once the pasta is al dente, drain it and set it aside.

4. In a large skillet, heat a small amount of olive oil over medium heat. Add the minced garlic and sauté for about 1 minute, or until fragrant and lightly golden.

5. Add the roasted vegetables and cooked penne pasta to the skillet with the sautéed garlic. Drizzle in the balsamic vinegar and toss everything together until well combined. Taste and adjust the seasoning with additional salt and pepper as needed.

6. Serve the Roasted Vegetable Pasta warm and enjoy.