Preheat oven to 375°F. Line a sheet pan with foil. Spread the chopped vegetables evenly across the sheet pan. Drizzle the vegetables with olive oil, balsamic vinegar and season with salt and black pepper, stir to evenly coat the vegetables. Roast the vegetables in the oven for 45 minutes, remove from the oven and transfer half of the roasted vegetables to a food processor and pulse until smooth. Pour the sauce into a bowl and add the reserved vegetables. Adjust the oven temperature to 350°F. In a casserole dish (9X11), cover the bottom of the baking dish with half of the sauce. Add the frozen manicotti to the baking dish and cover the top with remaining sauce. Cover with foil and bake for 30-35 minutes. Divide cooked manicotti among plates and sprinkle with Parmesan cheese if desired. Serve immediately.
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