In a large, deep sauté pan, heat olive oil with garlic over medium heat. Add zucchini, asparagus, salt and pepper.
Cook, stirring often, till crisp-tender, about 5 minutes. Stir in tomatoes and remove from heat. Cook pasta for 4 minutes. When pasta is done, take out 1/2 cup cooking water and reserve. Drain pasta then add to sauce in sauté pan.
Return to medium heat and cook for 2 minutes to blend flavors, stirring in some reserved cooking water as needed. Add basil, taste and adjust seasoning. Serve with cheese.