Cook pasta according to package instructions reserving 1 cup of the starchy cooking liquid.
While the pasta is cooking, heat a deep skillet over medium-high heat and drizzle with 1 tablespoon of the olive oil.
Add the garlic, diced bell pepper, zucchini and asparagus to the pan, plus salt and pepper, as sauté until tender, about 5-6 minutes.
Stir the cooked pasta into the pot of veggies along with the remaining 1 tablespoon olive oil, parmesan cheese and peas. If the mixture is too dry, add in a bit of the reserved starchy cooking liquid, 1/4 cup at a time.
Remove from heat then stir in the yogurt. Add salt and pepper to taste then garnish with fresh basil before serving