Preheat oven to 375°. Cook lasagna noodles as directed on package. Heat oil in a medium saucepan over medium heat. Add mushrooms, zucchini, carrot, bell pepper, and onion; cook for 5 minutes, stirring frequently. Add pasta sauce and bring to a boil. Reduce heat, and simmer 10 minutes.
Combine pesto and ricotta in a small bowl. Spread 1/2 cup tomato mixture in the bottom of an 8-inch square baking dish coated with cooking spray. Arrange 4 noodle halves over tomato mixture. Top noodles with half of ricotta mixture and 1 cup tomato mixture. Repeat layers, ending with noodles. Spread remaining tomato mixture over noodles; sprinkle with mozzarella.
Cover and bake at 375° for 30 minutes. Uncover and bake an additional 20 minutes. Let stand 10 minutes.
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