Heat oven to 350°F. Spray 3-quart casserole with cooking spray. In large Dutch oven, cook and drain pasta as directed on package, using minimum cook time. Return pasta to Dutch oven.
Meanwhile, in 12-inch skillet, heat oil over medium-high heat. Add garlic; cook and stir 30 seconds. Add eggplant, zucchini, yellow squash and salt; cook 8 minutes, stirring frequently, until tender. Add roasted peppers; cook 2 minutes or until thoroughly heated.
Add vegetables and pasta sauce to pasta in Dutch oven; mix well. Spoon into casserole. Sprinkle with cheeses.
Bake uncovered 30 minutes or until bubbly around edges and cheese is melted. Garnish with basil.