Heat olive oil in a large pan over medium heat. Add onion, garlic, zucchini, carrot, and bell pepper. Cook until softened, about 10 minutes.
Stir in tomato paste, oregano, and basil. Cook for another minute until fragrant.
Add the crushed tomatoes. Lower the heat and let it simmer for 15 minutes.
Transfer mixture to a blender. Blend until smooth and creamy. Return to pan.
Stir in almond milk. Taste and adjust seasoning with salt and pepper.
Toss the sauce with your favorite gluten free pasta and serve warm.