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Trim sides from eggplant removing most of the skin and forming a rectangular block. Using a sharp knife or mandoline, cut into 12 lengthwise slices (1/8 to 1/4 inch thick). Line a very large baking sheet with paper towels. Arrange eggplant slices in a single layer on the prepared baking sheet. Sprinkle both sides of eggplant slices with salt; let stand for 15 minutes. Rinse eggplant; drain well.
Meanwhile, in a 3-quart square baking dish arrange tomato slices in a single layer; set aside. In a small bowl combine bread crumbs, olive oil, and pepper; set aside.
Preheat oven to 400°F. Spread about 1 teaspoon pesto over each eggplant slice. Top with cheese and arugula. Roll up slices; secure with wooden toothpicks. Place eggplant rolls, seam sides down, in baking dish on top of tomato slices. Cover with foil.
Bake for 20 minutes. Remove foil; sprinkle with bread crumb mixture. Bake, uncovered, for 5 to 10 minutes more or until bread crumbs are crisp and eggplant is tender. To serve, use a small spatula to lift tomato slices topped with eggplant rolls from dish. If desired, garnish with basil.