Cook the pasta according to the package directions, reserving ¼ cup of the pasta cooking water; set aside.
Heat the olive oil in a large skillet over medium-high heat; add the zucchini, asparagus, and bell pepper. Sauté for 4 to 5 minutes or until the vegetables are crisp-tender and lightly browned. Add the tomatoes, garlic, olives, if desired, and parsley; cook for 2 minutes. Add the pasta and reserved cooking water; season with salt and pepper, to taste. Cook for 1 minute or until thoroughly heated. Serve with fresh basil leaves, Parmesan cheese, and lemon zest.