Heat oven to 350°. Heat oil in 4-quart ovenproof Dutch oven over medium-high heat. Cook beef in oil, stirring occasionally, until brown.
Stir in onion and garlic. Cook 2 to 3 minutes, stirring occasionally, until onion is crisp-tender. Stir in curry powder, coconut milk, brown sugar and lemon juice. Cover and place in oven; bake about 1 hour or until beef is tender.
Stir in remaining ingredients except cilantro. Cover and bake about 30 minutes or until vegetables are tender. Garnish with cilantro.