Heat nonstick skillet on medium-low. Add 1 teaspoon olive oil. Add polenta to pan and cook for 5 minutes on one side, flip and cook additional 4-5 minutes.

Remove polenta to a paper towel-lined plate. Place skillet back on the burner, add another teaspoon of oil, turn skillet down to low heat, add whole grape tomatoes and saute for ~5-6 minutes or until tomatoes start to soften.

Add minced shallots and garlic and saute an additional 2 minutes. Season lightly with salt and pepper. Remove from heat and let tomatoes sit in hot pan for another couple minutes until most have softened and lost their firm shape.

Transfer tomato mixture to a bowl, stir in 2 teaspoons olive oil and chopped basil. Spoon tomato mixture evenly over polenta rounds. Drizzle with balsamic vinegar to finish and serve warm.