Whisk all of the ingredients in a small bowl. Set aside.
For the vegetables:
Pour 1- inch or more of water in a wok or skillet and bring to a boil over medium-high heat. Place the vegetables in a bamboo or collapsible steamer. Set the steamer over the boiling water, cover, and cook for 5 to 8 minutes or just until the vegetables are crisp tender. Serve warm or at room temperature with the sauce.