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Trim off ends of the polenta; bias-cut the remaining polenta into eight slices. Brush polenta, zucchini, onion, and tomato with olive oil. Sprinkle with salt and pepper.
For a portable charcoal grill, grill polenta slices, zucchini, onion, and tomato on the rack of the uncovered grill over medium coals. Grill onion for 12 to 14 minutes or until tender and lightly browned, turning once. Grill polenta about 10 minutes or until lightly browned, turning once. Grill zucchini and tomato for 6 to 7 minutes or until tender, turning once. (For a portable gas grill, preheat grill. Reduce heat to medium. Place polenta and vegetables on grill rack over heat. Cover and grill as above.)
Coarsely chop zucchini, onion, and tomato. Spoon vegetables over polenta slices. Sprinkle with Parmesan cheese. Drizzle with salad dressing. If desired, sprinkle with basil.