Preheat oven to 400°F (200°C).
Arrange zucchini, eggplant, and bell peppers on baking sheets, toss with olive oil, salt, and pepper, and roast for 20 minutes.
In a medium bowl, combine ricotta, egg, and Parmesan cheese until smooth.
In a small saucepan over medium heat, simmer balsamic vinegar and honey for 10 minutes or until reduced to a syrupy consistency.
Reduce oven temperature to 375°F (190°C).
Spread 0.5 cup marinara sauce in the bottom of a 9x13 inch baking dish.
Layer three noodles, one-third of the ricotta mixture, one-third of the roasted vegetables, and 0.75 cup mozzarella; repeat layers twice.
Top with remaining noodles, sauce, and mozzarella cheese.
Cover with foil and bake for 25 minutes; remove foil and bake for an additional 15 minutes until cheese is golden.
Drizzle the balsamic glaze over the lasagna and let rest for 10 minutes before slicing.