Preheat oven to 450°.
Place first 4 ingredients on a foil-lined baking sheet coated with cooking spray. Coat vegetables with cooking spray.
Bake at 450° for 30 minutes.
Stir together roasted vegetables, beans, and remaining ingredients in a large saucepan. Bring to a boil; cover, reduce heat, and simmer 10 minutes. Remove from heat; let stand 5 minutes.