1Heat oven to 350°F. Spray 13x9-inch glass baking dish with cooking spray. Cook noodles as directed on package. Drain; rinse with cold water to cool. Drain well; lay noodles flat.
2Meanwhile, spray 10-inch skillet with cooking spray. Heat over medium-high heat. Add mushrooms and zucchini to skillet; sprinkle with pepper. Cook 5 to 8 minutes, stirring frequently, until vegetables are very tender. Remove from heat. Drain; return to skillet. Stir in ricotta cheese, mozzarella cheese, Parmesan cheese and basil until well blended.
3In baking dish, spread 1/2 cup pasta sauce. For each wheel, spoon 1/3 cup vegetable mixture on center of each cooked noodle; spread to ends. Carefully roll up from short end, forming wheel. Place wheels, seam-side down, in baking dish. Spoon remaining 1 cup sauce evenly over tops of wheels.
4Cover and bake 30 minutes or until sauce is bubbly. Serve warm, spooning sauce from baking dish over top of each wheel.