Heat oil in a skillet and add onion, garlic, carrot, tomatoes, and parsley. Sauté for several minutes. Add the remaining ingredients, and add an additional 1/2-1 cup water. Cook until all vegetables are cooked and beans are heated through.
Serve over any type of pasta, rotini, bow-ties, shells, fettuccini..
Note: To skin and seed tomatoes, boil tomatoes in water for 10-15 seconds. The skin should slide right off. Remove seeds, which add bitterness, and dice flesh.