Wash all vegetables under cool water, slice zucchini and yellow squash, cut bell peppers, halve cherry tomatoes, and slice mushrooms.

In a mixing bowl, whisk olive oil, soy sauce, lemon juice, and minced garlic until combined.

Add all vegetables to the marinade and toss gently to coat. Let sit for at least 15 minutes.

Preheat grill to medium-high heat and oil the grill grates.

Place marinated vegetables on the grill and cook for 10-15 minutes, turning occasionally.

Remove from grill and serve hot or at room temperature.