Heat oil in a large saucepan over medium heat.
Add onion; cook 5 minutes, stirring occasionally. Add garlic; cook 1 minute. Add squash; cook 1 minute. Add tomatoes, broth and rosemary; bring to a boil over high heat.
Reduce heat; simmer uncovered 8 to 10 minutes or until vegetables are tender.
Stir in chicken and beans; continue simmering 5 minutes or until heated through.