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Place a steamer basket in a large saucepan with a tight-fitting lid. Add water to just below the basket. Bring water to boiling over medium-high heat. Place beans in steamer basket. Cover; steam for 8 to 10 minutes or until beans are crisp-tender.
Heat oil in a large nonstick skillet over medium heat. Add garlic and cook for 15 seconds, stirring constantly. Add beans, salt and pepper. Cook for 3 minutes, tossing occasionally. Sprinkle with cilantro.