Cook macaroni as directed on package. Drain; return to saucepan. Cover to keep warm.
Meanwhile, brown ground beef in 12-inch nonstick skillet over medium-high heat for 5 to 7 minutes or until thoroughly cooked, stirring frequently. Drain.
Reduce heat to medium. Stir in cooked macaroni, beans, tomatoes, salt and pepper. Cook an additional 3 to 5 minutes or until bubbly, stirring frequently. Sprinkle with cheese.