Spray 4-quart saucepan or Dutch oven with cooking spray; heat over medium heat. Cook sausage in saucepan, stirring occasionally, until no longer pink; drain.
Stir in tomatoes, broth, water, tomato paste, carrots and onion. Heat to boiling; reduce heat to medium-low. Cook uncovered about 10 minutes or until carrots are tender.
Stir in pasta and zucchini. Cook uncovered 10 to 12 minutes, stirring occasionally, until pasta is tender. Sprinkle each serving with 2 tablespoons cheese.