1Cook and drain pasta as directed on package.
2While pasta is cooking, spray 4-quart Dutch oven with cooking spray; heat over medium-high heat. Cook bell peppers, green beans, onion and garlic in Dutch oven about 7 minutes, stirring occasionally, until vegetables are crisp-tender.
3Stir in tomatoes, broth and rosemary into vegetable mixture; reduce heat. Simmer uncovered about 3 minutes or until vegetables are tender. Stir in escarole and great northern beans. Simmer uncovered about 3 minutes or until escarole is wilted. Toss vegetable mixture and pasta. Sprinkle with vinegar and cheese.