Cut thin 2-inch-round slice from tops of rolls. Remove bread from inside of each roll, leaving 1/2-inch shell on side and bottom. (Reserve bread trimmings for another use.)
Heat soup, vegetables and beans in 3-quart saucepan over medium-high heat, stirring occasionally, 8 to 10 minutes until vegetables are tender and soup is hot.
Fill soup bowls one-third full with soup. Place rolls on top of soup. Spoon additional soup into rolls, allowing some soup to overflow into bowls.