Heat oil in large saucepan or Dutch oven over medium-high heat until hot. Add carrots, onion and celery; cook and stir 3 minutes. Add zucchini; cook and stir 2 minutes.
Stir in all remaining ingredients. Bring to a boil. Reduce heat to low; cover and simmer 15 to 20 minutes or until vegetables are tender and liquid is absorbed, stirring occasionally.