Heat the olive oil and garlic in a large skillet over medium heat. When garlic is tender, remove from skillet and set aside. Place the broccoli and carrot in the skillet, and cook 2 minutes, just until heated through.
In a pot, bring the vegetable broth to a boil.
Stir in the penne pasta and heated crushed garlic clove. Cook for 5 minutes, or until pasta is almost al dente.
Remove and discard garlic clove.
Transfer the partially cooked pasta and broth to the skillet.
Mix in the peas. Cover skillet, and continue cooking 10 minutes over medium heat, or until pasta is al dente and vegetables are tender.