Fill a pot with 1 inch of water and bring to a boil over medium heat.
Place a steamer basket over water and fill with carrots, broccoli, cauliflower, and asparagus and steam for 6 minutes.
While they steam, heat olive oil in a pan over medium heat.
Add in remaining ingredients and sauté for 1 minute.
Once veggies are done, combine everything in a bowl and stir to coat.