Heat 12-inch nonstick skillet 2 minutes over medium-high heat. Coat skillet with cooking spray; add sausage. Cook 5 minutes, turning once, until browned. Remove sausage from skillet; keep warm.
Remove skillet from heat; spray generously with cooking spray. Add zucchini and corn; cook 4 minutes, stirring frequently. Stir in tomatoes, water and pepper, scraping skillet to loosen brown particles. Cover; cook 4 minutes or just until tomatoes begin to burst.
Return sausage to skillet; cook uncovered 2 minutes longer or until liquid is almost evaporated.