I just throw a little EVOO in a pan, I add the spices of whatever I'm cooking (if it's Italian, Italian seasoning. Mexican, mexican seasoning and so forth so that it compliments everything else served). I let the pan get hot for a few minutes before I throw in the veggies, stir frequently for a few minutes and you are good! Basically, you just want them to be a nice temperature and that doesn't take very long. Once you start eating it you'll get an idea of how long you cook different types of veggies.
Certain veggies I do boil, like sweet potatoes. Boil them in chicken broth and have fun with them by adding something spicy like curry.
If more of us valued food and cheer and song above hoarded gold, it would be a merrier world. -Tolkien