1Place steamer basket in 1/2 inch water in saucepan or skillet (water should not touch bottom of basket). Place eggplant, bell pepper, carrot, bok choy and onion in steamer basket. Cover tightly and heat to boiling; reduce heat to medium-low. Steam 5 to 8 minutes, adding pea pods for the last minute of steaming, until vegetables are crisp-tender.
2Beat soy sauce, peanut butter, hoisin sauce, gingerroot and garlic in large bowl with wire whisk until blended. Add vegetables; toss. Serve over rice.