1. Sauté first 4 ingredients in a Dutch oven coated with cooking spray over medium-high heat until tender. Stir in zucchini and next 9 ingredients; bring to a boil. Cover, reduce heat, and simmer 30 minutes, stirring occasionally. Remove from heat.
2. Preheat oven to 350°.
3. Combine ricotta cheese and 3/4 cup mozzarella cheese. Spoon 2 cups vegetable mixture into a 13 x 9-inch baking dish coated with cooking spray. Place 3 noodles lengthwise in a single layer over vegetable mixture; top with half of ricotta cheese mixture. Repeat layers, ending with vegetable mixture. Cover and bake at 350° for 25 minutes. Uncover and sprinkle with remaining 1/2 cup mozzarella cheese and Parmesan cheese. Bake, uncovered, 8 to 10 additional minutes or until cheeses melt. Let stand 10 minutes before serving.