In large nonstick saucepan or pot over medium heat, heat oil. Add onion and bell pepper. Cook until softened, 5 minutes. Stir in garlic. Cook 30 seconds. Add carrots. Cover and cook 2 minutes. Add zucchini, chili powder, and cumin. Cook 1 minute. Stir in tomatoes. Bring to a boil, lower heat and simmer, partially covered, 15 minutes, stirring occasionally.