Heat oil in large skillet on medium-high heat. Add 1/2 of the beef; brown on all sides. Repeat with remaining beef. Remove all beef from skillet.
Stir onion into skillet; cook 5 minutes or until softened. Add beef and remaining ingredients, except beans. Bring to boil. Reduce heat to low; simmer 1 hour, stirring occasionally.
Stir in beans; simmer 20 minutes. Serve with shredded Cheddar cheese, if desired.