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Cut the crowns off the peppers and remove the seeds. Cut the peppers into 1-inch wide strips.
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Light the grill or heat a grill pan on the stovetop. If using a grill pan, brush it lightly with olive oil and heat over medium-high heat.
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Place the pepper strips on the grill or in the grill pan in a medium-hot spot grill until charred and lined, turning to cook on all sides.
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Cut the garlic in half across the width, leaving the head whole and unpeeled. Drizzle each half with a little olive oil and season lightly with salt and pepper. Wrap each half of the garlic in aluminium foil, enclosing it completely. If using a grill, place in the corner, over indirect heat, and grill for about 25 minutes, until the cloves are very tender. If using a grill pan, place it on the pan and leave it to cook while you work through all the other ingredients.
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Cut the onion in half, brush with a little olive oil and place cut side down on the grill or in the grill pan. Grill for about 10 – 20 minutes, turning, or until lightly charred and soft.
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Prepare the remaining vegetables for the grill: Combine 3 - 4 tablespoons of olive oil together with salt and pepper in a bowl large enough to hold the eggplant and zucchini. Add the eggplant and zucchini and toss. Place the eggplant and zucchini slices on the grill or in the grill pan and grill, turning once, until browned and marked, about 8-10 minutes.
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Brush the tomato clusters with olive oil and sprinkle with a little salt and grill them briefly, over high heat, just until the tomatoes start to blister. Remove. Lightly brush the rosemary sprigs with a little olive oil and grill for a minute or two, just to release their aroma.
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Place all the vegetables in a bowl. Remove the softened pulp from one of the garlic halves and add it to the vegetables. Keep the other half intact as garnish. Whisk together the ingredients for the vinaigrette and toss with the vegetables. Serve, tossed and garnished with the rosemary, and with the half head of garlic on the plate or platter..