Prepare rice according to package directions.
Meanwhile, in large saucepan or Dutch oven, heat oil over medium-high heat. Add sausage and onions; sauté until onions are softened (3-5 minutes).
Add beans and tomatoes. Bring to a boil; reduce heat and simmer 10 minutes, stirring occasionally. Stir in cooked rice and cilantro; continue simmering 5 minutes.