Preheat the griller to moderate. Blend the soy sauce and olive oil thoroughly in a large bowl.
Trim the zucchini and slice into thin rounds. Trim and slice the eggplants, if using (there is no need to peel the little ones). Clean and thickly slice the mushrooms, then cut the tofu into bite-sized pieces.
Add the vegetables and tofu to the soy sauce and oil and stir gently until well coated.
Spread in a single layer in the griller tray or on a baking tray. Grill for 20 minutes, until cooked and browned, shaking the vegetables occasionally to prevent sticking.
Meanwhile, make the sauce. Chop enough parsley to give 2 tablespoons; put aside. Pour the tahini into a jug, peel the garlic and crush it into the jug, then briskly stir in just enough water to give the sauce the consistency of pouring cream. Stir in the chopped parsley, sesame oil and Dijon mustard, and season to taste with salt and pepper.
When the vegetables and tofu are cooked, transfer to a warm serving plate and pour over the tahini sauce. Serve hot or warm.
NUTRIENTS PER SERVING:
good source of vitamins A, B group, C, E and folate, and calcium, iron and zinc.