Heat olive oil in large cast-iron or other ovenproof skillet over medium-high heat. Add zucchini and mushrooms; cook until softened, 2-3 minutes. Add onion and garlic; cook until vegetables are tender, 2-3 minutes. Add pasta sauce, water and seasonings. Stir to combine; add broken noodles. Bring to a boil. Reduce heat; cover and simmer until noodles are tender, about 15 minutes. Top with mozzarella and, if desired, Parmesan cheese. Broil until cheese melts and starts to brown. If desired, sprinkle with basil.