Heat gas or charcoal grill. In 3-quart saucepan, cook noodles to desired doneness as directed on package. Drain; return to saucepan. Cover to keep warm.
In ungreased 15x10x1-inch pan, place bell pepper, summer squash and zucchini. Brush with oil. Place bell pepper, summer squash and zucchini pieces directly on grill over medium heat. Cover grill; cook 8 to 12 minutes, turning frequently, until vegetables are crisp-tender.
Meanwhile, cook frozen sugar snap peas as directed on box. Cool 1 minute; drain. Pour into large bowl.
Coarsely chop grilled vegetables; add to peas in bowl. Add marinade; stir to coat. Add drained noodles; stir to coat. Place on platter; sprinkle with sesame seed.