Prepare all vegetables by washing and cutting them as specified.
Heat a large skillet or wok over medium-high heat and add sesame oil.
Add minced garlic to the heated oil and sauté briefly until fragrant.
Add the carrots to the skillet, stirring frequently for 2-3 minutes.
Stir in the asparagus and bell peppers, cooking for another 2-3 minutes.
Next, introduce the zucchini and snap peas, stirring until all vegetables are tender-crisp, about 2-3 more minutes.
Pour in the soy sauce, tossing everything to coat evenly.
Remove from heat and let the stir fry sit for a moment before serving.
Garnish with sesame seeds if desired, then serve warm.