In 4 1/2- to 5-quart Dutch oven, heat oil over medium-high heat. Add onion and garlic; cook 4 to 5 minutes, stirring frequently, until onions are softened.
Stir in remaining ingredients. Heat to boiling. Reduce heat to medium-low; cover and cook 15 to 20 minutes, stirring occasionally, until chili is hot and vegetables are crisp-tender.