1Heat oven to 425ºF. Spray jelly roll pan, 15 1/2x10 1/2x1 inch, with cooking spray.
2Place mushrooms, onion, bell pepper and zucchini in single layer in pan. Spray with cooking spray. Sprinkle with salt and red pepper. Bake uncovered 20 to 25 minutes, turning vegetables once, until tender.
3Sprinkle cheese into taco shells. Top with vegetables and salsa. Sprinkle with cilantro.