Cook first 3 ingredients in hot oil in a large Dutch oven over medium-high heat, stirring often, 12 to 13 minutes or until meat crumbles and is no longer pink. Stir in chile powder and next 2 ingredients, and cook 1 minute. Add broth and next 2 ingredients, and bring to a boil. Reduce heat to low, and simmer, uncovered, stirring occasionally, 30 minutes. Stir in beans, and cook 5 minutes or until thoroughly heated.
Remove from heat, and stir in cilantro and rosemary. Season with salt and pepper to taste. Garnish, if desired.