In a large bowl combine all of the ingredients together except for the cilantro and toss the mixture to coat.
Spray a grid using nonstick cooking spray to prevent sticking and then prepare the coals to grill the vegetables directly. Take the vegetables and place them about 2 to 3 inches above the hot coals on the grill and reserve the marinade. Grill the vegetables for 3 to 4 minutes on each side or until they have become tender and lightly charred and cool them for 10 minutes. If desired place the vegetables on the rack of a broiler pan that has been coated with nonstick cooking spray and reserve the marinade. Broil the vegetables about 2 to 3 inches from the heat for about 3 to 4 minutes for each side or until the vegetables are tender and then cool them for 10 minutes.
If desired remove the peel from the eggplant and slice the vegetables into pieces that are bite-sized and return them to the marinade, stir in the cilantro, and toss the vegetables so that they are evenly coated.