Heat oil in large saucepan over medium-high heat until hot. Add onion and garlic; cook 2 to 3 minutes or until onion is crisp-tender and garlic just begins to brown, stirring frequently.
Add all remaining ingredients except zucchini and cilantro. Bring to a boil. Reduce heat; cover and simmer 10 minutes.
Add zucchini; simmer uncovered an additional 8 to 10 minutes or until zucchini is tender. Sprinkle with cilantro.