In a small mixing bowl, whisk together olive oil, balsamic vinegar, Dijon mustard, minced garlic, salt, and black pepper until smooth.
Dice the Roma tomatoes and place them in a large mixing bowl. Pour the vinaigrette over the tomatoes and stir gently to coat. Let marinate at room temperature.
Boil the penne pasta according to package directions until tender. Drain and allow to cool slightly.
Chop the basil and set aside.
Add the drained pasta and chopped basil to the tomato mixture. Stir gently to combine, ensuring the pasta is well coated.
Taste and adjust seasoning if necessary. Serve immediately or chill in the fridge for later.
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Notes
Store leftovers in an airtight container in the refrigerator for up to 4 days. Stir before serving again.