Heat olive oil in a large saucepan or Dutch oven over medium-high heat. Cook onion, carrot, celery, garlic and rosemary until vegetables begin to soften, about 5 minutes.
Stir in tomato sauce, beans and 2 1/2 cups water. Add broth, zucchini, pasta and pepper; bring to a simmer. Cook, uncovered, 10 minutes or until pasta is tender, stirring occasionally. Stir in parsley. Serve topped with Parmesan cheese and additional parsley, if desired.
