Lyon full-back Michel Bastos set the ball rolling with a free-kick four minutes before half-time and Robinho doubled the Selecao's lead before the interval.
Elano rounded off the scoring in the second half and Brazil were never worried after that point.
It could have been so different had Ovidy Karuru scored a clear chance for the hosts in the first 20 minutes, but he blazed over. Julio Cesar immediately went down injured and was replaced by Tottenham's Heurelho Gomes - who soon had to make a good save from Knowledge Musona's header.
But when Luis Fabiano was fouled just outside the penalty area, Michel Bastos stepped up and gave keeper Edmore Sibanda no chance.
And Maicon then played in Robinho, who rode Method Mwanjali's weak challenge and beat Sibanda to make the game safe.
Elano swept home the third after a good link-up between half-time substitutes Julio Baptista and Dani Alves.
Dunga's side play Tanzania in Dar-es-Salaam on Sunday before beginning their World Cup Group G campaign against North Korea on June 15.
* ESPN
