Heat oil in a large nonstick skillet over medium-high heat. Add onion, peppers, and garlic; saute 5 minutes or until tender. Stir in ketchup and next 4 ingredients; bring to a boil. Stir in beans.
Pour mixture into an 11- x 7- x 1 1/2-inch baking dish coated with cooking spray. Bake, uncovered, at 325° for 55 minutes or until bubbly.