Steamed Vegetables with Sesame-Chile Oil

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3 carrots, peeled and cut on the bias into 1/2-inch pieces

8 spears asparagus, cut into 2-inch pieces 

1/4 head cauliflower, cut into 1-inch florets 

1/4 head broccoli, cut into 1-inch florets 

1 tablespoon sesame-chile oil 

1 teaspoon olive oil 

2 cloves garlic, chopped 

1/4 teaspoon red pepper flakes 

Juice of 1/2 lemon 

Kosher salt and freshly ground black pepper 

Kosher salt and freshly ground black pepper