I love the idea of haloumi. In veggie land, eggplant or sweet potato slices; portabello caps (marinated, packed in zipper plastic baggies). Meatless "hobo dinners"--potatoes and other root veggies, seasonings and any other filling that would heat well with the like (maybe some pre-constituted seasoned TVP w. a bit of oil?) packed into a sealed aluminum foil pouch and heated till the potatoes are done.

I just went camping for the first time this weekend! Although I'm no longer a vegetarian, I can give you a few campfire/grill suggestions:

1. Campfire quesadillas! Take a tortilla. Slather it with some beans and cheese. Place another tortilla on top. Cook on top of aluminum foil.
2. Eggs! We shaped foil into small rounds using the base or a wide bottom water bottle. Poured an egg in. Covered it with a leaf to create a pseudo-oven enviroment and had a wonderful sunny side up.
3. You don't have to just throw ON the grill. You can throw some foil-wrapped potatoes INTO the grill. Find a hot spot in the coal/wood but away from fire.
4. I also prepared some tandoori paneer & veggie skewers the day before our trip. But I think that required too much prep work.
5. Our friend brought Texas toast and we cooked it on the grill of the campfire.

I hope this helps & hope you have a better experience that I did. Our camping trip was a wash-out but still enjoyable under a tarp!

Not sure how much extra stuff you'll want to bring, but since we're car campers, I always bring a basic "camp kitchen" of items that makes the cooking part easy and more delicious. I bring a 10 inch beater of a cast iron skillet, a good chopping knife, one of those flexi cutting boards, a spatula, a roll of aluminum foil, can and wine bottle opener and a pincher (tongs). I also bring a mini container with separate places for salt, pepper, olive oil, and a spice that sounds good at the time (frequently curry powder or red pepper flakes). I fight the urge to bring more because I think some of the fun of campfire cooking is in limiting yourself and going simple with the flavors.

Sometimes I bring some food along with instead of buying everything at the town nearest to our camp. If you're camping somewhere with a farmer's market nearby, pick up whatever looks good. You can make foil packets of vegetables and top them with cheese for some protein after your hikes. You can bring along canned beans to bulk up a veggie stir fry. I like to crack eggs ahead of time into a sealed container and you can make a skillet scramble or frittatta. I also like to parboil hard root veg like potatoes, sweets or rutabagas, and then you can finish them off on the grill or smash them into some olive oil in the skillet for crispy edges messy home fries. Wrap a bulb of garlic in foil and put it in the far edge of the coals and you'll have roasted garlic to smear into whatever you grill.

Have a great trip!

Bake corn or potatoes in the coals of the fire (wrapped in foil). You can also do a baked brie (YUM) or cook pasta or a whole bunch of other delicious things!

I know you don't want veggie burgers, but portobello "burgers" are great for grilling. I've been making one recipe from epicurious.com in which you top the grilled portobello caps with smoked gouda and a piquillo pepper / mayonnaise sauce. I also put caramelized onions on, which are also super easy to make on the grill: slice em up thinly as you would for pan cooking, wrap them in an aluminum foil packet, put a few dots of butter on top, and put the packet on the grill for 30 - 40 minutes or until nicely caramelized. I make these almost every time I grill, since I think they go well with just about everything, and it's so easy.

Oops, just re-read this post and saw that it's for camping. So you probably don't want to get that involved. Although you can still do portobellos simply -- just toss with some olive oil and garlic, top with cheese after cooked, and put on a bun.

I don't camp, but I do grill a lot. I tried haloumi and I will say that it is VERY meaty. I found it to be completely gross because of the texture AND the saltiness.
I like to do grilled veggies on skewers and pop them into a pita with some cucumber sauce or feta cheese. It's filling and fresh.
you could also pre-make some bruschetta (yay fresh tomatoes!) and snack on it with bread or tortilla chips.
soups also travel well and are easy to heat in a pan over the fire. I just made an amazing batch of vegetable soup from all the fresh stuff in the garden

This isn't a traditional grill meal, but I made eggplant parm on the grill when I was craving it on a hot day and it was delicious, almost better than my go to version.

http://noreeats.blogspot.com/2011/05/grilled-eggplant-parmesan.html

as a veggie camper family we have a staple.
veggies cooked on the grill in a foil pouch with veggies and seasonings of your choice (i like to use mr. greeks seasoning with some olive oil, but you can go as simple and oil and S&P). when possible I pre-cut the veggies, but.
if you can boil water you can make some minute rice in the bag which is pretty easy.
heat up beans if you have the capacity and desire.
combine the veggies and rice (and/or beans) in a tortilla to eat like a taco or burrito.
there you go, pretty yummy and fairly easy camping meal. possibly more appropriate for car camping.

This grilled veggie sandwich is one of my favorite meals of all time!

http://allrecipes.com/Recipe/california-grilled-veggie-sandwich/detail.aspx

Our go to "nothing in the fridge" meal:

sliced (long ways) zuchinni, asparagus, onions. Put in a gallon zip lock, pour in a bunch (maybe a cup?) of vegi oil, a TON of kosher salt, a lot of pepper, and powdered garlic. It can stay in there for a couple hours or minutes. Swish it up. then Put them on a super hot grill and flip.

Second item: get soyaki from trader joe's or another good teryaki sauce. Slice tofu into 1/2 in to 1 inch slabs. Marinade for at least an hour in the teryaki sauce. Then grill. *if you can't get tofu that isn't sitting in water, then press the tofu between two plates for a couple hours to get all the liquid out first. We love tofu you tofu b/c it isn't all liquid saturated.

Super easy and delicious.

If you're a car camper and take along a cast-iron pan, your choices are limitless.

One of my friends likes to flip the pan over and cook pizzas on the bottom. You can also make pizzas on a grill grate, but definitely read up some tutorials on it before you try it yourself! ;)

Also, never underestimate the yumminess of grilled cheese sandwiches made over a fire.

I just tried grilled halloumi for the first time this summer. Yum, yum, yum. According to my friend in England it is a very popular vegetarian menu item there. However, I'd stick with small doses since it is flavor/salt packed.

If I'm cooking over a grill I tend to go traditional - thick slabs of veg (eggplant, portobello, zucchini, etc) with a bit of olive oil, salt, and pepper. For a protein change why not try grilling up some tempeh. Marinate in soy sauce, spices, and a little liquid smoke to impart a near bacon-y flavor.

If you've got a campfire, though, then a whole new range of opportunities is open from 'grilling' to 'wrapping in foil and throwing in the fire' Lots of great suggestions above.

Friendly reminder, though - Always have some quick snacks ready because it inevitably takes longer to get the grill/fire going on a camping trip than planned. Have fun!!!

Here's a second for baked potatoes with fun toppings that can travel (i.e. canned black beans, sauteed or grilled onions, grilled zucchini).

Or how about Turkish eggplant kebab--marinate eggplant (which travel so well with no refrigeration) in lemon, olive oil, smoked paprika, cumin, and garlic. Thread on a skewer with olives and serve on pita.

For breakfast, I like dicing up some garlic and tomatoes into the skillet, then adding an egg and covering. Grill some toast to go with it - delicious!

thanks for the suggestions everyone. you've given me some great ideas! can't wait to give camping a try :)