Boil, steam or microwave carrot until just tender (don’t overcook). Drain. Cool slightly.
Cut zucchini halves into 2 cm thick slices.
Cut baby corn spears in half crossways. Cut onion wedges into 3 cm pieces.
Thread zucchini, carrot, corn, capsicum and onion onto bamboo skewers. Arrange skewers in single layer in a large shallow dish
Combine soy sauce, sesame oil, honey and garlic in a small bowl. Drizzle evenly over skewers. Turn skewers to lightly coat vegetables in sauce mixture.
Heat a lightly oiled char-grill plate or barbecue plate until hot. Add skewers. Cook for 3-5 minutes on each side or until vegetables are lightly charred and tender.
Transfer skewers to a serving tray. Sprinkle with sesame seeds.