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Brush eggplant, mushroom and bell pepper with oil and sprinkle with black pepper and salt. Grill the vegetables on the rack of an uncovered grill directly over medium coals for 10 to 12 minutes or until vegetables are just tender, turning once halfway through grilling. Transfer vegetables to a cutting board and cut into 1/2-inch slices.
Meanwhile, combine mayonnaise and garlic in a small bowl. Spread mayonnaise mixture over cut sides of rolls. Fill the rolls with the grilled vegetables.