Combine the first 4 ingredients in a medium bowl. Heat oil in a large nonstick skillet over medium-high heat. Add pork mixture, beans, and garlic; cook 3 minutes or until pork loses its pink color, stirring to crumble.
Combine hoisin and next 3 ingredients (through soy sauce) in a small bowl, stirring with a whisk. Add hoisin mixture to pan. Cook 2 minutes or until thoroughly heated, stirring frequently. Serve over rice.