Lightly spray a large saucepan with nonstick cooking spray. Add rice to saucepan. Cook over medium heat, stirring occasionally, until lightly browned. Stir in onion and garlic. Cook for 2 to 3 minutes. Add hot water, bouillon cubes and tomato sauce, stirring until bouillon cubes are dissolved. Reduce heat to low. Cover and simmer for 20 minutes. Add frozen vegetables. Cover and simmer for an additional 10 minutes or until all moisture is absorbed.  Sprinkle cilantro on top of cooked rice. Serve.