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