Grease grill rack. Prepare grill.
Brush eggplant, zucchini and summer squash with small amount of oil. Grill until slightly softened.
In large bowl, whisk together 1/3 cup oil, the vinegar, mustard, garlic, salt and black pepper. Add grilled vegetables and roasted pepper; toss to coat. Cover; refrigerate 1 to 3 hours.
Brush ham with small amount of oil. Grill 3 minutes on each side or until hot and grill marks appear. Serve with marinated vegetables and pesto.