Cook pasta according to package directions, adding zucchini and carrots the last 5 minutes of cooking time. Drain; reserve 1/4 cup of the pasta water. Return pasta to pan.
For pesto, peel and quarter one orange. In a food processor combine orange quarters, olive oil, the 1 cup cilantro, the reserved pasta water, salt, dry mustard, garlic, and crushed red pepper. Peel and chop remaining orange. Toss together pasta, pesto, and chopped orange. If desired, top with additional cilantro and orange peel.