Smoked Red Pepper Dip with Grilled Crudite

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2 large red bell peppers

1 bunch asparagus, trimmed

2 cups large button mushrooms, trimmed

5 tablespoons extra-virgin olive oil

Kosher salt and freshly ground black pepper 

1 small head broccoli, cut into florets and blanched 

1 bunch carrots, peeled and cut into 4-inch by 1/2-inch sticks 

8 ounces feta, drained and chopped

1/4 cup Greek yogurt 

2 teaspoons lemon juice 

1/2 teaspoon smoked paprika

1 clove garlic, minced