Heat oven to 375°F. Spray 2-quart round casserole with cooking spray.
In 12-inch nonstick skillet, cook sausage over medium-high heat 8 minutes, stirring occasionally, until no longer pink. Add garlic; cook and stir 1 minute. Stir in beans, tomatoes, onions and rosemary. Heat to boiling over high heat; remove from heat. Spoon into casserole.
Separate dough into 10 biscuits; arrange over casserole.
Bake 20 to 25 minutes or until thoroughly heated and biscuits are golden brown.