Coat a medium saucepan with cooking spray; place over medium-high heat until hot. Add onion and next 3 ingredients; saute until tender. Add beef broth and next 5 ingredients. Bring to a boil; cover, reduce heat, and simmer 1 hour.
Add beans, tomato, and pasta to vegetable mixture; cover and cook an additional 15 minutes or until pasta is tender.
To serve, ladle soup into individual bowls, and sprinkle evenly with cheese.