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HEAT oil in large saucepan on medium-high heat. Add next 4 ingredients; cook 3 min., stirring occasionally. Stir in cilantro and mustard; cook 2 min., stirring frequently.
DRAIN 2 cans beans; add to ham mixture. Stir in remaining 2 undrained cans. Bring to boil; cover. Simmer on medium-low heat 10 min., stirring occasionally.