In 10-inch nonstick skillet, mix oil and bread crumbs. Cook over medium heat 3 to 5 minutes, stirring frequently, just until crumb mixture begins to brown. Place crumbs in bowl; set aside for topping.
In same skillet, cook chorizo over medium heat 5 to 8 minutes, stirring frequently, until thoroughly cooked and browned. Add garlic; cook and stir 1 minute. Drain drippings from skillet. Stir in chicken, pasta sauce, coconut milk, taco seasoning mix, salt, pepper and beans. Heat to boiling. Reduce heat to medium-low; simmer uncovered 6 to 10 minutes, stirring frequently, until slightly thickened.
Stir in chopped cilantro. Ladle cassoulet into individual bowls. Sprinkle about 2 tablespoons bread crumb mixture over each serving and garnish with cilantro sprig.