Heat olive oil in a medium skillet over medium heat.
Add the finely chopped onion and minced garlic to the skillet and cook for 2-3 minutes until softened.
Add the ground beef to the skillet, breaking it apart with a spoon, and cook until browned and no longer pink, about 6-8 minutes.
Drain any excess fat from the skillet if necessary.
Add the finely diced carrot and zucchini to the skillet and cook for 5 minutes until the vegetables are tender.
Stir in the thawed peas, cooked white rice, dried oregano, dried basil, and ground black pepper.
Pour in the low-sodium chicken broth and stir to combine.
Reduce the heat to low, cover the skillet, and simmer for 5 minutes to allow flavors to meld and vegetables to soften further.
Remove from heat and let cool slightly before serving to toddlers.