In 10-inch skillet, cook sausage over medium-high heat 5 to 7 minutes, stirring frequently, until no longer pink; drain. Stir in hot water, milk, and sauce mix and uncooked pasta (from Hamburger Helper box). Heat to boiling, stirring occasionally.
Reduce heat; cover and simmer 8 minutes. Stir in frozen green beans. Cover; simmer 6 to 8 minutes longer, stirring occasionally, until beans are tender.
Uncover; sprinkle with cheese. Let stand 1 to 2 minutes or until cheese is melted.