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. Steam 5 to 8 minutes or until vegetables are crisp-tender; add pea pods for the last minute of steaming.
2Beat soy sauce, peanut butter, hoisin sauce, gingerroot and garlic in large bowl, using wire whisk, until blended. Add vegetables to peanut butter mixture; toss. Serve over rice.