In a large skillet, heat the olive oil over medium heat. Add the chopped red onion and garlic, sautéing until the onion becomes translucent, about 3-4 minutes.
Add the diced zucchini and bell pepper to the skillet, cooking for an additional 3-4 minutes until they soften.
In a large mixing bowl, combine the cooked rice, black beans, corn, sautéed vegetables, taco seasoning, and half of the salsa. Mix well and season with salt and pepper to taste.
Pour the mixture into a greased 9x13 inch baking dish, spreading it evenly.
Spoon the remaining salsa over the top of the casserole, spreading it out evenly.
Sprinkle the shredded cheese over the top of the casserole generously.
Cover the dish with aluminum foil and bake in the preheated oven for 20 minutes.
Remove the foil and bake for an additional 10-15 minutes, or until the cheese is melted and bubbly.
Once removed from the oven, let it cool for a few minutes. Garnish with freshly chopped cilantro before serving.