In large saucepan or Dutch oven, cook chicken, onion and garlic in oil until chicken loses it's pink color. Add tomatoes, carrots, tomato sauce, picante sauce, cumin, coriander, salt, oregano and beans. Bring to boil. Reduce heat. Simmer, covered, about 15 minutes. Add green pepper. Continue to simmer about 10 minutes. Sprinkle with cilantro.