Heat oven to 400°F. Line 15x10x1-inch baking pan with foil; spray foil with nonstick cooking spray. Cut eggplant in half lengthwise; place cut side down in foil-lined pan.
Bake at 400°F. for 45 minutes or until eggplant is soft to the touch. Remove from oven; cool 5 minutes.
Scoop eggplant flesh from skin into food processor bowl with metal blade. Add tomato, onion and garlic; process with on/off pulses until pureed. Add tahini, lemon juice and salt; process until smooth.
Spoon dip into serving bowl. Sprinkle with parsley. Serve with cut-up fresh vegetables or as spread with toasted pita bread wedges, sliced French bread or crackers.