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1. Heat oil in a large nonstick skillet over moderately high heat until hot but not smoking; cook peppers and onion, stirring until golden brown, about 7 minutes. Remove skillet from heat and stir in balsamic vinegar. Season mixture with salt and pepper and cool to room temperature.
2. Split rolls and spread bottom halves evenly with Boursin. Top with roast beef, peperonata, basil, and remaining top halves of rolls.