Cut broccoli, carrots, zucchini, and other vegetables into bite-sized pieces.
Pour water into a steamer and bring it to a boil.
Place the vegetables on the steamer rack over boiling water and steam for 7-10 minutes.
Mix perilla seed powder, soy sauce, minced garlic, sesame seeds, and water to make the sauce.
Arrange the steamed vegetables in a bowl and serve with perilla sauce.