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In a 5- to 6-quart Dutch oven, heat oil over medium-high heat. Add onions, cook until tender, stirring occasionally. Add garlic and cook for 2 minutes. Stir in the beans, sweet potato, zucchini, water, broth, tomato paste, chili powder, cumin and oregano. Bring to a boil; reduce heat. Simmer, covered, for 5 minutes.
Stir in the quinoa. Return to boiling; reduce heat. Simmer, uncovered, for 20 to 25 minutes or until quinoa and potatoes are tender. Sprinkle with salt and pepper. If you like, top each serving with Greek yogurt and/or cilantro.