Place broth in a small saucepan; bring to a boil. Add barley to pan. Cover, reduce heat, and simmer 10 minutes or until liquid is absorbed.

Heat a large nonstick skillet over medium-high heat. Coat pan with cooking spray. Remove casings from sausage. Add sausage to pan; cook 3 minutes, stirring to crumble. Transfer to a bowl. Heat oil in pan over medium-high heat. Add onion, bell pepper, and mushrooms; sauté 4 minutes or until liquid evaporates. Add garlic; sauté 1 minute. Return sausage to pan. Stir in Madeira; sauté 2 minutes. Add barley; cook 1 minute or until thoroughly heated. Remove from heat; stir in basil and black pepper.