First make sure the grill is medium-hot. You don't want it too hot or you'll risk burning the vegetables. If you're grilling different vegetables at once, remember the cooking time will vary so watch them and be prepared to take them off at different times.
In general, to help vegetables cook quickly and thoroughly, they should be cut to expose the maximum area to the grill. Small vegetables, such as mushrooms or cherry tomatoes, should be on a skewer so they don't fall through the grill. Even onions are best on a skewer.
Thin metal skewers are best, but if using wooden ones be sure to soak them in water first to prevent burning.
Just before grilling the vegetables, brush them with a bit of olive oil. You can also add fresh herbs and/or garlic for added flavor. You can also add salt and pepper both before and after grilling, just be sure not too use too much!
Here are some general techniques for grilling some of my favorite vegetables. Keep in mind the cooking times can vary, depending on the grill and it's temperature, so be sure to keep an eye on them.
Zucchini or summer squash - trim the ends, then slice lengthwise into a 1/2 inch thickness. Then lightly brush with olive oil and grill 3-5 minutes per side.
Small mushrooms - clean and dry them. Skewer them through the cap first, then stem. Grill 8-10 minutes, rotating every 2-3 minutes to ensure even cooking.
Tomatoes - cut in half, top to bottom. Brush lightly with oil, and grill cut side down for 5-7 minutes.
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