1. Heat a grill pan or nonstick skillet over medium-high heat. Coat pan and polenta slices with cooking spray. Place polenta slices on grill pan or skillet; cook 2 minutes on each side or until golden brown. Remove from pan; keep warm.
2. While polenta cooks, heat oil in a large nonstick skillet over medium-high heat. Add tomatoes and garlic to skillet; sauté 4 minutes or until tomatoes soften and garlic is tender. Reduce heat to low. Stir in beans and next 3 ingredients. Cook, stirring constantly, 2 minutes or until thoroughly heated.
3. Place 3 polenta slices on each of 3 plates. Spoon tomato mixture evenly over polenta, and sprinkle evenly with cheese. Garnish with rosemary sprigs, if desired.
Shortcut kitchen tip
To quickly remove fresh rosemary leaves from the tough, woody stem, hold the top of the rosemary sprig with the leaves pointing upward over a cutting board. With the other hand, run your fingers along the stem against the direction of the leaves, pinching tightly. Your fingers will separate the leaves from the stem. Mound the leaves together on your cutting board, and then chop the leaves with a chef's knife.