In a large bowl, combine the first 10 ingredients. Crumble beef over mixture and mix lightly but thoroughly. Shape into 1-1/4-in. balls.
In a large skillet, cook meatballs over medium heat until no longer pink; drain. Add carrots and zucchini; cook, uncovered, for 5 minutes or until tender. Stir in tomatoes; heat through. Serve with rice.