Heat oil in a large deep skillet over medium-low heat. Add sausage links; brown on all sides, turning occasionally, 7 to 8 minutes.
Transfer links to a plate; set aside.
Add onion; sauté 2 minutes. Add bell peppers and garlic; sauté 3 minutes. Stir in salt and pepper. Add broth and rosemary; simmer 6 to 7 minutes or until vegetables are tender. Stir in beans. Return sausages to skillet; heat through, turning once, 3 to 4 minutes.