Preheat oven to 375°.
Place tofu in a food processor; process until smooth. Spoon tofu onto several layers of heavy-duty paper towels; spread to 1/2-inch thickness. Cover with additional paper towels; let stand 5 minutes. Scrape back into processor using a rubber spatula; add beans and next 6 ingredients (beans through garlic) and pulse until beans are coarsely chopped.
Spread 1 cup pasta sauce on bottom of a 13 x 9-inch baking dish coated with cooking spray. Spoon 1/4 cup tofu mixture into each shell. Arrange shells in dish. Spoon remaining pasta sauce over shells; sprinkle with remaining cheeses. Bake at 375° for 30 minutes or until cheese begins to brown. Sprinkle with basil, if desired.
Note: Prepare extra macaroni shells to allow for breakage.