Heat oven to 350°F. Cook and drain pasta as directed on package using minimum cook time.
Meanwhile, in 10-inch skillet, heat oil over medium heat. Add onion, carrots, celery and bell pepper; cover and cook 5 to 8 minutes, stirring occasionally, until carrots are just tender. Uncover; stir in zucchini and garlic. Cook and stir 1 minute longer.
Place pasta in ungreased 2 1/2-quart casserole. Stir in carrot mixture, beans, tomatoes, 1/4 cup of the cheese, the salt, pepper and pesto. Cover casserole. Bake 40 to 50 minutes or until hot in center. Top each serving with remaining cheese.