Preheat your oven to 425 degrees F.
Spray two sheet pans with cooking spray and set aside.
In a small bowl, whisk together balsamic vinegar, Dijon mustard, garlic, dried Italian herbs, and 1 teaspoon of kosher salt. Add 2 tablespoons of olive oil and whisk until emulsified.
In a large bowl, combine the broccoli, mushrooms, red bell pepper, zucchini, yellow squash, cherry tomatoes, and red onion. Pour the dressing over the vegetables and toss to coat.
Spread the vegetables in a single layer on the sheet pans.
Roast for 30 minutes, tossing halfway through.
Meanwhile, bring a large pot of salted water to a boil and cook the fusilli pasta according to package directions.
Reserve a little cooking water before draining the pasta.
In a large bowl, combine the cooked pasta, basil pesto, and cannellini beans, adding reserved pasta water as needed.
Gently toss the roasted vegetables with the pasta mixture and top with Parmesan cheese.
Drizzle with balsamic vinegar and sprinkle with red pepper flakes before serving.