Wash the vegetables. Slice the eggplant and zucchini into rounds. Cut the bell peppers and carrots into strips.
In a bowl, whisk together the olive oil, salt, and pepper. Brush the vegetables with the mixture.
Heat a grill pan over medium-high heat. Grill the vegetables on both sides for 2-3 minutes, or until lightly charred and tender.
Prepare the tahini dressing: in a small bowl, combine the tahini, lemon juice, minced garlic, and water. Whisk until smooth and creamy.
Arrange the grilled vegetables on a serving platter and drizzle with the tahini dressing.
Garnish with chopped fresh parsley and serve immediately.
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