Penne with Asparagus and Peppers

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1 (9-ounce) package frozen cut asparagus

3/4 cup chicken stock

1/2 cup frozen chopped onion

1 teaspoon crushed garlic

1/2 cup roasted red pepper, cut into 1/2-inch strips

1/2 cup roasted yellow pepper, cut into 1/2-inch strips

1 teaspoon Italian seasoning

2 tablespoons finely chopped fresh flat-leaf parsley

1 tablespoon balsamic vinegar

12 ounces penne pasta, cooked per package directions

1/4 cup grated Parmesan