For the sauce: Put the garlic and olive oil in a small microwave-safe bowl and microwave on HIGH until the garlic is golden, 1 to 2 minutes. Stir in the lime juice, cilantro, and salt and set aside until ready to serve.
For the vegetables: Pour 1-inch or more of water in a wok or skillet and bring to a boil over medium-high heat. Place the vegetables in a bamboo or collapsible steamer. Set the steamer over the boiling water, cover, and cook for 5 to 8 minutes, or just until the vegetables are crisp tender. Serve warm or at room temperature with the sauce.
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