Slice zucchini in half lengthwise; cut across to make ¼-inch slices. Set aside. Heat olive oil in a large sauté pan or wok over medium-low heat. Add garlic and sauté for 1 minute.
Add onion to pan. Cook 2 minutes or until pieces begin to soften. Add bell pepper, zucchini and edamame; stir and cook for 2 additional minutes.
Add tomatoes and orange juice to vegetable mixture and stir. Turn heat to low and simmer 15 to 20 minutes. Add basil and toss together.
Spoon 1 ½ C edamame mixture over ½ C brown rice. Garnish with additional basil sprigs and orange slices, if desired.