Coat a Dutch oven with vegetable cooking spray; add olive oil. Place over medium-high heat until hot. Add onion and garlic; saute until onion is tender. Add yellow pepper; saute until pepper is tender. Add cumin and next 5 ingredients; saute 1 minute.

Stir in tomatoes and next 5 ingredients; bring to a boil. Cover, reduce heat, and simmer 20 minutes.

Remove from heat; stir in vinegar. Ladle chili into individual bowls. Top each serving with 1 tablespoon cilantro.