In a large skillet, heat 1 Tbs. olive oil over medium. Add the sausage. Cook, stirring to break up meat as it cooks, until browned. Use a slotted spoon to transfer the sausage to a bowl and set aside.
Discard all but 1 Tbs. of the fat in the skillet and return to medium heat. Add the onion and cook until tender, 6 to 8 minutes. Add the zucchini. Cook until just tender and beginning brown, about 4 to 6 minutes. Add the beans, rosemary, and salt. Cook 1 to 2 minutes more or until the beans are heated through.
Meanwhile, cook the orecchiette according to package directions. Drain pasta, reserving 3/4 cup of the pasta cooking water.
Add the pasta and reserved sausage to the skillet. Stir to combine. Add enough of the pasta water, 1 tablespoon at a time, to create a sauce of desired consistency, gently stirring between each addition. Season with pepper and top with the Parmesan cheese.