Heat oil heavy large skillet over low heat. Add onion; saute until golden and tender, about 10 minutes. Add rice and garlic; saute 1 minute. Add 3 cups water and salt; bring to boil. Reduce heat to low, cover tightly and cook until rice is tender and almost all liquid is absorbed, about 35 minutes; do not stir.
Uncover skillet and place green beans, squash, broccoli, corn and carrot evenly over surface of rice. Cover and cook until vegetables are crisp-tender, about 10 minutes. Remove from heat. Stir in red bell pepper and sesame seeds. Mix in soy sauce. Toss to coat.