Preheat the grill to medium-high heat. In a bowl, combine olive oil, garlic, parsley, salt, and pepper.
Slice eggplant, lengthwise, into ½-inch thick slices. Brush both sides of the eggplant with the olive oil marinade.
Place the eggplant on the grill and close the grill. Cook for 3-4 minutes and flip when the eggplant has browned grill marks. Cook for 3 minutes and remove from the grill.
Drizzle the eggplant with balsamic glaze and garnish with fresh parsley. Serve immediately.
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Notes
Don't slice eggplant any thinner than a ½-inch. They will almost disintegrate if they get too thin.
Evenly brush the eggplant with olive oil to give it a golden-brown color across the entire slice.
If you start to see grill marks through the eggplant, flip them immediately.