Heat oil in heavy large Dutch oven over medium-high heat. Add beef and cook until brown, stirring occasionally, about 8 minutes. Add onion and garlic and sauté until onion is tender, about 5 minutes. Stir in tomatoes with juices and all remaining ingredients except frozen vegetables and parsley. Cover and simmer until meat is tender, about 1 hour 10 minutes. (Can be prepared 3 days ahead. Cover and refrigerate. Rewarm over medium heat before continuing.) Stir in frozen vegetables. Cover and simmer until vegetables are tender, about 10 minutes.