Cook ground beef, onion and garlic in 3-quart saucepan, stirring occasionally, until beef is brown; drain. Stir in remaining ingredients except beans; break up tomatoes. Heat to boiling; reduce heat. Cover and simmer 1 hour, stirring occasionally. Stir in beans. Heat to boiling; reduce heat. Simmer uncovered about 20 minutes, stirring occasionally, until of desired thickness. 4 SERVINGS; 415 CALORIES PER SERVING.