Heat oil in large skillet over medium-high heat until hot. Add beef and onions; cook and stir until beef is browned.
In 3 1/2- to 4-quart slow cooker, combine browned beef and onions and all remaining ingredients except kidney beans; mix well.
Cover; cook on high setting for 1 hour.
Reduce heat to low setting; cook 4 to 5 hours or until beef and vegetables are tender.
Stir in beans. Cover; cook on low setting for an additional 30 to 45 minutes or until thoroughly heated.