Heat dressing in large nonstick skillet on medium heat. Add zucchini and 1-1/2 cups tomatoes; cook 3 min. or until zucchini is crisp-tender, stirring frequently. Add seasonings; cook and stir 1 min. Stir in beans; simmer on medium-low heat 5 min. or until heated through, stirring occasionally. (Add up to 1/4 cup water if needed to prevent mixture from drying out.) Stir in half the cilantro.