Bring a large pot of salted water to a boil. Add the penne pasta and cook according to package instructions until al dente. Drain and set aside.

In a skillet over medium heat, combine the cherry tomatoes, chopped basil, roasted garlic, olive oil, balsamic vinegar, salt, and pepper. Cook for about 5-7 minutes until the tomatoes are softened.

Add the cooked pasta to the skillet with the bruschetta topping. Toss to combine and heat through for an additional 2-3 minutes. Serve topped with grated Parmesan cheese.