In a bowl, mix ricotta, mozzarella, Parmesan, egg, garlic, basil, and black pepper. Spread each eggplant slice with the cheese mixture, roll up tightly, and place seam side down in a baking dish.
Pour marinara sauce over the eggplant rolls. Cover with foil and bake for 25 minutes. Uncover and bake for an additional 15 minutes until the cheese is bubbly.