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Preheat oven to 450°F. Combine tomatoes, summer squash, sweet pepper, and onion in a large roasting pan. Drizzle vegetables with oil and sprinkle with 1/2 teaspoon salt, and the black pepper. Toss lightly to coat.
Roast, uncovered, for 12 minutes. Remove from oven. Gently stir in soybeans and 1 tablespoon of the rosemary; roast, uncovered, 5 minutes more or until vegetables are just tender.
Meanwhile, in a medium saucepan bring water and 1/8 teaspoon salt to boiling; gradually stir in polenta. Reduce heat; cook and stir 5 to 8 minutes or until desired consistency. Stir in 1 tablespoon rosemary and 2 tablespoons of the Parmesan cheese.
Divide polenta among 6 serving plates and sprinkle with remaining 2 tablespoons Parmesan cheese. Serve with vegetables.