Brown beef in a large nonstick soup pot. Drain in a colander in sink.
In the same pot, heat olive oil. Add onions, carrots, celery, and garlic. Cook for 2 minutes. Stir often.
Add drained beef back to pot. Stir in canned tomatoes, beans, beef broth, pasta sauce, zucchini, water, Italian seasonings, and pepper.
Bring soup up to a boil. Turn heat to a simmer, cover, and let cook for 50 minutes.
Add pasta to soup. Cover and cook for about 10 minutes longer until pasta is ready. If you like a thinner soup, just add another ½ cup water or so.
Ladle soup into a small bowl or cup. Top with grated Parmesan cheese, if desired.
This soup freezes great!