01 - Bring 6 cups water and 1 teaspoon salt to a boil in a large pot. Add orzo pasta and cook according to package directions until al dente. Drain well, reserving 1/2 cup of the cooking liquid, and set aside.
02 - Heat olive oil in a large skillet over medium heat. Add minced garlic and sauté for 1 minute until fragrant, being careful not to burn it.
03 - Add diced zucchini, cherry tomatoes, yellow bell pepper, asparagus pieces, and peas to the skillet. Sauté for 4-5 minutes, stirring occasionally, until vegetables are tender-crisp.
04 - Add the drained orzo to the skillet with the cooked vegetables. Pour in the reserved pasta water, Parmesan cheese, lemon zest, and lemon juice. Toss everything together until well combined and the sauce coats the pasta evenly.
05 - Season with salt and black pepper to taste. Remove from heat and stir in fresh basil and parsley until evenly distributed.
06 - Transfer to serving plates or bowls. Top with additional grated Parmesan cheese and fresh herbs if desired. Serve immediately while hot.