Cook pasta in large pot of boiling, salted water according to package directions for about 4 minutes. Add frozen vegetables. Cook about 5 minutes more or until pasta and vegetables are tender. Drain pasta and vegetables, reserving 1/2 cup cooking water.
Return pasta mixture to pot, and stir reserved cooking water, tomatoes, oil, garlic, and salt and pepper to taste. Heat over medium-low heat until tomatoes are hot. Serve with Parmesan cheese.