In large saucepan, bring 6 cups water to a boil over high heat. Add lentils; boil 10 minutes or until tender, stirring occasionally. Drain.
Heat oil in large saucepan over medium heat until hot. Add onions and garlic; cook and stir until tender. Add lentils and all remaining ingredients except cilantro; mix well. Bring to a boil. Reduce heat to medium-low; cover and simmer 15 minutes or until thoroughly heated, stirring occasionally.
Add cilantro; mix well. Remove from heat. If desired, serve with hot cooked brown or white rice.