In large 4-quart saucepan, heat oil over medium-high heat until hot. Cook onion and garlic in oil 2 to 3 minutes or until onion begins to turn translucent. Add chicken pieces, salt and pepper. Cook 3 to 5 minutes or until chicken is no longer pink in center.
Reduce heat to medium; stir in soup and beans. Simmer 5 minutes. Remove from heat; stir in lime juice and chopped cilantro.