Heat the oil in a 10-inch skillet over medium-high heat. Add the sausage, onion and garlic and cook until the onion is tender, stirring frequently.
Stir the rice, broth and picante sauce in the skillet and heat to a boil. Reduce the heat to low. Cover and cook for 15 minutes. Stir in the peas and cook, covered, for 5 minutes or until the sausage is cooked through and the rice is tender. Stir in the cilantro.