Combine the vegetable broth and 2 cups water in a large saucepan and bring to a boil. Add the beans, mushrooms, bell peppers, zucchini, and squash and simmer for 5 min. Add the shrimp and continue cooking for an additional 3 min, or until shrimp is warmed through.
Meanwhile, prepare the rice according to package directions. Add rice to the soup. Divide soup among 4 bowls, top with pesto and serve.