Cut a lengthwise slit in one side of each pepper; discard seeds and membranes. Place peppers on a paper towel in microwave oven. Microwave at HIGH 3 minutes or until peppers are hot and beginning to soften. Set aside to cool.
Cook beef, onion, and garlic in a large nonstick skillet over medium-high heat until browned; stir to crumble. Drain well; return meat mixture to pan.
Add beans and next 3 ingredients to pan; bring to a boil. Reduce heat, and simmer, uncovered, 5 minutes. Remove from heat; stir in cilantro.
Open peppers; fill with bean mixture, and top with cheese.
Place peppers on a broiler pan coated with cooking spray. Broil 6 minutes or until peppers are tender and cheese melts.