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Coat a 4-quart nonstick saucepan or Dutch oven with cooking spray; heat over medium heat. Add onion and green pepper. Cook for 5 to 10 minutes or until tender, stirring occasionally.
Stir in tomatoes, kidney beans, navy beans, broth, tomato sauce, sausage, chili powder and molasses. Bring to a boil; reduce heat. Simmer, covered, for 30 minutes, stirring occasionally. To serve, ladle soup into bowls. Top with a dollop of yogurt. If desired, garnish with cilantro.