Combine first five ingredients in large bowl; stir in vegetables and marinate for 30 minutes.
Bring 4 quarts of water to boil with 1 teaspoon salt in a medium saucepan. Cook pasta until al dente (10-13 minutes). Drain and rinse.
To grill: Spray grill rack with nonstick cooking spray. Using direct heat cooking method, arrange vegetables on grill rack 4-5 inches over medium coals. Grill peppers, yellow squash and zucchini 10-12 minutes, turning once; jicama 5-7 minutes, turning once; and asparagus 3 minutes, turning once.
Cut veggies into bite-size pieces and combine with pasta; toss with Creamy Dressing until well coated. Serve immediately or refrigerate, covered, several hours or overnight.
Whisk together all ingredients in a bowl until thoroughly combined. Refrigerate, covered, until ready to use.