Pasta Primavera With Sautéed Vegetables

whole wheat pasta (any cut)

olive oil (divided)

garlic (minced )

bell pepper (any color) (seeded and diced )

medium zucchini (thinly sliced )

asparagus (cut in 1-inch pieces)

parmsan cheese (grated)

green peas (fresh or frozen)

Stonyfield whole milk plain yogurt

salt and pepper (to taste)

basil (shredded)