Preheat the oven to 375°F (190°C).
Cook the gluten-free lasagna noodles according to the package instructions. Drain and set aside.
In a mixing bowl, combine ricotta cheese, 1 cup of mozzarella cheese, ½ cup of Parmesan cheese, salt, and black pepper. Mix well.
In a saucepan, heat olive oil over medium heat. Add chopped vegetables and sauté until tender. Set aside.
Spread a thin layer of marinara sauce at the bottom of a baking dish. Place a layer of lasagna noodles on top.
Spread a layer of the ricotta mixture over the noodles, followed by a layer of sautéed vegetables. Repeat layers until all ingredients are used, ending with a layer of marinara sauce.
Sprinkle the remaining mozzarella and Parmesan cheese on top.
Cover the baking dish with aluminum foil and bake for 30 minutes. Remove the foil and bake for an additional 15 minutes, or until the cheese is bubbly and golden.
Let the lasagna cool for 10 minutes before serving.