In medium bowl, mix barbecue sauce, vinegar, brown sugar and beans; set aside.
In 12-inch nonstick skillet, heat oil over medium-high heat. Sprinkle salt and pepper over pork; place in skillet. Cook about 6 minutes, turning once, until both sides are browned.
Reduce heat to medium. Stir in bean mixture. Cook 3 to 5 minutes or until pork is no longer pink in center.