Preheat oven to 425˚F.
Cut the head of garlic to expose all of the cloves. Drizzle the EVOO over the cut end to coat the cloves. Press the cut garlic into the rosemary, coating the ends of the cloves completely. Season with salt and pepper, and wrap garlic head in foil. Roast 45 minutes then let cool.
Mash cooled roasted garlic into a paste, combining it with the rosemary.
Heat a grill pan over medium-high to high heat. Pour about 1/4 cup EVOO into a dish. Using a pastry brush, brush vegetables with EVOO and season with salt and pepper. Grill in batches until zucchini, onion and eggplant are cooked and tender, 3-4 minutes on each side per batch. Coarsely chop grilled vegetables and roasted red peppers.